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New developments on the geometric nonholonomic integrator
(IOP Publishing, 2015-04-25)
In this paper, we will discuss new developments regarding the geometric nonholonomic integrator (GNI) (Ferraro et al 2008 Nonlinearity 21 1911-28; Ferraro et al 2009 Discrete Contin. Dyn. Syst. (Suppl.) 220-9). GNI is a ...
Lagrangian reduction of nonholonomic discrete mechanical systems
(American Institute of Mathematical Sciences, 2010-03)
In this paper we propose a process of lagrangian reduction and<br />reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal ...
Rubber rolling over a sphere
(Maik Nauka/Interperiodica/Springer, 2007-04)
Rubber coated bodies rolling over a surface satisfy a no-twist condition in addition to the no slip condition satisfied by 'marble' coated bodies [1]. Rubber rolling has an interesting differential geometric appeal because ...
The inverse problem of the calculus of variations for discrete systems
(IOP Publishing, 2018-04-09)
We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic ...