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An Evaluation of Moreau’s time-stepping scheme for the simulation of a legged robot

Roland Siegwart

A state-of-the-art simulation technique that solves the equations of motion together with the set-valued contact and impulse laws by the time-stepping scheme of Moreau is introduced to the legged robotics community. An analysis is given that shows which of ...

2014

Role of sampling in evaluating classical time autocorrelation functions

Jiri Vanicek, Tomas Zimmermann

We analyze how the choice of the sampling weight affects efficiency of the Monte Carlo evaluation of classical time autocorrelation functions. Assuming uncorrelated sampling or sampling with constant correlation length, we propose a sampling weight for whi ...

American Institute of Physics2013

Migration of volatile organic contaminations (VOCs) through a deforming clay liner

David Andrew Barry

A fully coupled thermal–hydraulic–mechanical–chemical (THMC) model was proposed to describe the migration of volatile organic contaminations (VOCs) in unsaturated landfill liners. The vertical soil stress, capillary pressure, air pressure, temperature incr ...

Elsevier2013

A class of Neumann type systems and its application

Jinbing Chen

A class of Neumann type systems are derived separating the spatial and temporal variables for the 2+1 dimensional Caudrey-Dodd-Gibbon-Kotera-Sawada (CDGKS) equation and the modified Korteweg-de Vries (mKdV) hierarchy. The Lax-Moser matrix of Neumann type s ...

International Press2012

Transport, Flux And Growth Of Homoclinic Floer Homology

We point out an interesting relation between transport in Hamiltonian dynamics and Floer homology. We generalize homoclinic Floer homology from R-2 and closed surfaces to two-dimensional cylinders. The relative symplectic action of two homoclinic points is ...

Amer Inst Mathematical Sciences2012

Full-field drift Hamiltonian particle orbits in 3D geometry

Jonathan Graves, Wilfred Anthony Cooper, Stephan Brunner

A Hamiltonian/Lagrangian theory to describe guiding centre orbit drift motion which is canonical in the Boozer coordinate frame has been extended to include full electromagnetic perturbed fields in anisotropic pressure 3D equilibria with nested magnetic fl ...

IOP2011

Full-Field Drift Hamiltonian Particle Orbit in 3D Geometry

Jonathan Graves, Wilfred Anthony Cooper, Stephan Brunner

Institute of Physics2011

Conjugate momentum estimate using non-linear dynamic model of the sit-to-stand correlates well with accelerometric surface data

Kamiar Aminian, Raluca Lidia Ganea

The purpose of this study was the development of a non-linear double inverted constrained pendulum model for the analysis of the movement of sit-to-stand (STS) transition. Ten able-bodied subjects perform five trials in their natural speed. Kinematics, kin ...

2011

Geometry of nonabelian charged fluids

Tudor Ratiu, François Gay-Balmaz

The goal of this paper is to derive the Hamiltonian structure of polarized and magnetized Euler-Maxwell fluids by reduction of the canonical symplectic form on phase space, and to generalize the dynamics to the nonabelian case. The Hamiltonian function we ...

2011

Hanani-Tutte and Monotone Drawings

Radoslav Fulek

A drawing of a graph is x-monotone if every edge intersects every vertical line at most once and every vertical line contains at most one vertex. Pach and Toth showed that if a graph has an x-monotone drawing in which every pair of edges crosses an even nu ...

Springer-Verlag Berlin2011