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Download PDF Nonsmooth Impact Mechanics: Models, Dynamics and Control

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Nonsmooth Mechanics : Models, Dynamics and Control

FAQ Policy. About this book This significantly enlarged and expanded second edition focuses on a class of nonsmooth hybrid dynamical systems, namely finite-dimensional mechanical systems subject to unilateral constraints. Praise for the first edition: The presentation is excellent in combining rigorous mathematics with a great number of examples ranging from simple mechanical systems to robotic systems allowing the reader to understand the basic concepts.

Mathematical Abstracts It is written with clarity, contains the latest research results in the area of impact problems for rigid bodies and is recommended for both applied mathematicians and engineers. Mathematical Reviews.

Oblique Impact - Engineering Dynamics

Show all. From reviews for the first edition: It is written with clarity, contains the latest research results in the area of impact problems for rigid bodies and is recommended for both applied mathematicians and engineers.

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Ebook Nonsmooth Impact Mechanics Models Dynamics And Control

Mathematical Reviews f Reviewer: P. Panagiotopoulos The presentation is excellent in combining rigorous mathematics with a great number of examples ranging from simple mechanical systems to robotic systems allowing the reader to understand the basic concepts. Mathematical Abstracts Reviewer: H. Show next xx. Recommended for you.

Bernard Brogliato - Google Scholar Citations

PAGE 1. Wheeled vehicles such as the Twistcar toy car and Snakeboard glider belong to a class of underactuated vehicles with nonlinear dynamics, whose motion is generated by internal configuration changes that induce an interaction between momentum balances and nonholonomic constraints of no-slip at the wheels. In this research program, the motion control of such vehicles is analyzed by utilizing methods of geometric mechanics, where the objective is extending the existing theory to motion on uneven terrain and incorporation of effects of wheels slippage.

In the laboratory, robotic prototypes of such vehicles will be constructed in order to demonstrate advanced nonlinear control methods.

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Additionally, numerical models and tools for dynamic simulation of such vehicles will be developed. Toggle navigation. Sc Ph. Research Centers and Labs. Laboratory Head: Yizhar Or.

Location: J. The research will focus on three main programs: Dynamics and control of micro-swimmers: The motion of microorganisms, bacteria and sperm cells is governed by low Reynolds number hydrodynamics, where viscous effects are dominant and inertial effects are negligible. Non-smooth dynamics of multibody systems with intermittent contacts: Dynamic motion of walking and running in humans, animals and legged robots is governed by intermittent contacts with the environment. Geometric control of nonholonomic vehicles: Wheeled vehicles such as the Twistcar toy car and Snakeboard glider belong to a class of underactuated vehicles with nonlinear dynamics, whose motion is generated by internal configuration changes that induce an interaction between momentum balances and nonholonomic constraints of no-slip at the wheels.


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