A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...

As it is well known, symmetry plays a crucial role in the theoretical physics. On other hand, the Noether symmetry is a useful procedure to select models motivated at a fundamental level, and to discover the exact solution to the given lagrangian. In this work, Noether symmetry in f(T) theory on a spatially homogeneous and anisotropic Bianchi type I universe is considered. We discuss the Lagran...

Examples of the construction of Hamiltonian structures for dynamical systems in field theory (including one reputedly non–Hamiltonian problem) without using Lagrangians, are presented. The recently developed method used requires the knowledge of one constant of the motion of the system under consideration and one solution of the symmetry equation.

There are a number of mathematical theorems in the literature on the dynamics of cosmological models with accelerated expansion driven by a positive cosmological constant Λ or a nonlinear scalar field with potential V (quintessence) which do not assume homogeneity and isotropy from the beginning. The aim of this paper is to generalize these results to the case of k-essence models which are defi...

A variant of the usual Lagrangian scheme is developed which describes both the equations of motion and the variational equations of a system. The required (prolonged) Lagrangian is defined in an extended configuration space comprising both the original configurations of the system and all the virtual displacements joining any two integral curves. Our main result establishes that both the Euler-...

A suboptimal approach to distributed NMPC for a class of systems consisting of nonlinear subsystems with linearly coupled dynamics subject to both state and input constraints is proposed. The approach applies a dual decomposition method to represent the original centralized NMPC problem into a distributed quasi-NMPC problem by linearization of the nonlinear system dynamics and taking into accou...

In this study, heat transfer and aerosol deposition in the under-floor and baseboard heating systems have been investigated, numerically. The aim of this study is a comparison between these heating systems. This comparison obtains the optimal heating system with low suspended particles in the air. Computational fluid dynamic with Eulerian-Lagrangian method has been used to simulate fluid and pa...

Marsden and Scheurle [1993] studied Lagrangian reduction in the context of momentum map constraints—here meaning the reduction of the standard Euler-Lagrange system restricted to a level set of a momentum map. This provides a Lagrangian parallel to the reduction of symplectic manifolds. The present paper studies the Lagrangian parallel of Poisson reduction for Hamiltonian systems. For the reduc...

A discussion of Lagrangian and Hamiltonian dynamics is presented at a level which should be suitable for advanced high school students. This is intended for those who wish to explore a version of mechanics beyond the usual Newtonian treatment in high schools, but yet who do not have advanced mathematical skills.