- Vivi Padova
- Il Bo
Martedi' 28 Agosto 2012 alle ore 11.30, in aula 2AB45, il Prof. Dmitry Zenkov (University of North Caroline) terra' un seminario dal titolo "Variational Structures for Hamel's Equations and Applications to Nonholonomic Mechanics".
Hamel's equations are an analogue of the Euler-Lagrange equations of Lagrangian mechanics when the velocity is measured relative to a frame unrelated to system's local configuration coordinates. This formalism is particularly useful in nonholonomic mechanics. We will discuss the variational structures associated with Hamel's equations. We then will discuss applications to nonholonomic integrators. In particular, we will address a possible lack of preservation of relative equilibria and their stability by discretizations. We then will show that discrete Hamel's formalism leads to the integrators that keep system's relative equilibria and their stability intact.
Rif. int. F. Rampazzo