Now showing items 11-20 of 85
Geometric Phases, and Optimal Reconfiguration for Multibody Systems
Relative Motion in a system of coupled rigid bodies can yield global reorientation (or phase shift.) We give a formula to compute such a phase shift and interpret the same in geometric terms. The theory of connections in ...
The Hannay-Berry Phase of the Vibrating Ring Gyroscop
In an analysis published in 1890 G.H. Bryan investigated the retrograde precession of the nodal points in a vibrating, rotating shell and wrote down a formula relating the rate of precession to the rate of rotation. This ...
Hamiltonian Structures and Stability for Rigid Bodies with Flexible Attachments.
The dynamics of a rigid body with flexible attachments is studied. A general framework for problems of this type is established in the context of Poisson manifolds and reduction. A simple model for a rigid body with an ...
The Dynamics of Two Coupled Rigid Bodies.
In this paper we derive a Poisson bracket on the phase space so(3)*x so(3)*x S0(3) such that the dynamics of two three- dimensional rigid bodies coupled by a ball and socket joint can be written as a Hamiltonian system.
The Hamiltonian Structure of Nonlinear Elasticity: The Convective Representation of Solids, Rods, and Plates.
ABSTRACT NOT AVAILABLE.
On the Dynamics of Floating Four-Bar Linkages.
The hamiltonian structure of floating, planar four-bar linkages is discussed. The geometry of configuration space is related to the classical theory of mechanisms due to Grashof. For generic value of kinematic parameters, ...
Control of Hysteresis: Theory and Experimental Results
Hysteresis in smart materials hinders the wider applicability ofsuch materials in actuators. In this paper, a systematic approachfor coping with hysteresis is presented. The method is illustratedthrough the example of ...
A Dynamic Model for Magnetostrictive Hysteresis
The rate-dependent hysteresis present in thin magnetostrictive actuators can be captured by a dynamic model, consisting of a Preisach operator coupled to an ordinary differential equation in an unusual way. The model ...
On the Dynamics of Floating Four-Bar Linkages. II. Bifurcations of Relative Equilibria
Continuing our program to understand the geometry and dynamics of floating four-bar linkages, we explore the relative equilibria of an assembly that admits symmetric configurations. We show that a symmetric configuration ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...