On Centroidal Dynamics and Integrability of Average Angular Velocity

Ja n 20 04 Average Angular Velocity Hanno Essén

This paper addresses the problem of the separation of rotational and internal motion. It introduces the concept of average angular velocity as the moment of inertia weighted average of particle angular velocities. It extends and elucidates the concept of Jellinek and Li (1989) of separation of the energy of overall rotation in an arbitrary (non-linear) N -particle system. It generalizes the so ...

On Time Optimisation of Centroidal Momentum Dynamics

Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization approach difficult and timing is usually kept fixed in most trajectory optimization techniques to not introduce additional non convexities to the problem. But t...

Differentiability of Mather’s average action and integrability on closed surfaces

In the study of Tonelli Lagrangian and Hamiltonian systems, a central role in understanding the dynamical and topological properties of the action-minimizing sets (also called Mather and Aubry sets), is played by the so-called Mather’s average action (sometimes referred to as β-function or effective Lagrangian), with particular attention to its differentiability and nondifferentiability propert...

Numerical study on the jet dynamic through centrifuge spinning: influence of angular velocity

Numerical study, investigation effect of distance and angle of spur dike on average velocity distribution and maximum velocity position at mild 90 degree bend

Use the Spur dike as one of the easiest ways to protect the costal of the river has always been of interest to River engineers.The aim of this study was numerical investigate, the effect of distance and angle of the spur dikes parameters  on the pattern of distribution of average velocity  and the location of maximum velocity position at a mild 90 degree bend. For this purpose used ANSYS CFX so...