The general explicit equations of motion for constrained discrete dynamical systems are obtained. These new equations lead to a simple and new fundamental view of constrained motion where the forces of constraint may be ideal and/or non-ideal. 2004 Elsevier Inc. All rights reserved. The general problem of obtaining the equations of motion of a constrained discrete mechanical system is one of th...

In the quantized two-dimensional non-linear supersymmetric σ-model, the supercurrent supermultiplet, which contains the energy-momentum tensor, is transformed by the nonlocal symmetry of the model into the isospin current supermultiplet. This effect incorporates supersymmetry into the known infinite-dimensional Yangian deformation symmetry of plain σ-models, leads to precisely the same nontrivi...

ports are the most important economic, political and military bottlenecks. this puts shoreline structures (port) in the class of important structures and they have a crucial role in the countries’ life. pile and deck wharf and their access bridges and offshore deck (jetties), are one of the parts which are supplier of coupling between the land and the waterfront. correct and exact estimation of...

Many important problems in multibody dynamics, the dynamics of wheeled vehicles and motion generation, involve nonholonomic mechanics. Many of these systems have symmetry, such as the group of Euclidean motions in the plane or in space and this symmetry plays an important role in the theory. Despite considerable advances on both Hamiltonian and Lagrangian sides of the theory, there remains much...

Sina Ober-Blobaum* Control and Dynamical Systems California Institute of Technology Pasadena, CA 91125 [email protected] In this contribution, a recently developed optimal control method for constrained mechanical systems is applied to determine optimal motions and muscle force evolutions for a pitcher's arm. The method is based on a discrete constrained version of the Lagrange-d'Alembert ...