Publication

The U (n) free rigid body: Integrability and stability analysis of the equilibria

Publications associées (35)

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Optical stability of axially chiral push-pull-substituted buta-1,3dienes: Effect of a single methyl group on the C60 surface

Pablo Rivera Fuentes

A new spin on C60: Axially chiral, pushpull buta-1,3-diene chromophores conjugated to vicinally methylated fullerenes (see picture) have high barriers of rotation about their chiral axes. These high barriers allowed their optical resolution and the determi ...

2010

Nilpotent subalgebras of semisimple Lie algebras

Donna Testerman

Let g be the Lie algebra of a semisimple linear algebraic group. Under mild conditions on the characteristic of the underlying field, one can show that any subalgebra of g consisting of nilpotent elements is contained in some Borel subalgebra. In this Note ...

2009

Block variants of Hammarling's method for solving Lyapunov equations

Daniel Kressner

This article is concerned with the efficient numerical solution of the Lyapunov equation A(T) X + XA = -C with a stable matrix A and a symmetric positive semidefinite matrix C of possibly small rank. We discuss the efficient implementation of Hammarling's ...

Association for Computing Machinery2008

Metastability of fcc-related Si-N phases

The phenomenon of superhardening in TiN/SiNx nanocomposites and the prediction of extreme hardness in bulk gamma-Si3N4 have attracted a large interest to this material system. Attempts to explain the experimental findings by means of first-principles calcu ...

2008

A Numerical Sufficiency Test for the Asymptotic Stability of Linear Time-Varying Systems

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

A numerical sufficiency test for the asymptotic stability of linear time-varying Hurwitz systems is proposed. The algorithmic procedure constructs a bounding tube in which the state is guaranteed to stay. The continuous-time system is evaluated at discrete ...

2007

Ultrasonic monolithic piezoelectric multi DOF actuators for mobile microrobots

Jean-Marc Breguet, Walter Driesen, Tomas Cimprich

We propose a new type of “hybrid” ultrasonic driving principle for our monolithic piezoelectric actuators, which consist of simple electrode patterning on a PZT ceramic substrate The operating principle of the proposed USM is based on the conversion of ell ...

2006

Symmetry breaking in mechanical systems

The first part of this thesis studies the problem of symmetry breaking in the context of simple mechanical systems with compact symmetry Lie group G. In this part we shall assume that the principal stratum of the G-action on the configuration space Q of a ...

EPFL2005

Stability analysis of discrete-time switched systems through Lyapunov functions with nonminimal state

Giancarlo Ferrari Trecate

In this paper we investigate stability analysis for discrete-time switched systems. We first consider quadratic Lyapunov functions defined over a nonminimal state encompassing the past history of the state trajectory over a finite horizon. This allows us t ...

2003

Vehicle for rugged terrain

Roland Siegwart, Michel Lauria

The invention concerns a vehicle whereof the rigid body (1, 2, 4) comprises the front element (20) forming the rear element of a deformable articulated quadrilateral (17, 18, 19, 20). The element (17) is mounted in the extension of the arm (15) linked to t ...

2001

Kinematic control of the mass properties of redundant articulated bodies

Ronan Boulic

In this paper we show how the mass properties of an articulated body, such as its center of mass and its moments of inertia, may be manipulated like any conventional end effector, with well-known iterative, numerical techniques. Within our interactive simu ...

Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, USA2000