Universita di Padova Dipartimento di Matematica

Seminari di Fisica Matematica

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      Nonholonomic and robotics day
                     (an informal, explorative meeting)


July 4, 2016
Dipartimento di Matematica dell'Universita` di Padova
Torre Archimede - Via Trieste 63
Aula 1AD100

9:30 Inizio Incontro    
9:45-10:30 E. Menegatti
DEI, Universita` di Padova.
"Perception for service and industrial robotics"

Parlerò delle linee di ricerca attive presso il nostro laboratorio IAS-Lab:
Robotics.dei.unipd.it

 

Break      
11:00-11:25 M. Zoppello.
Universita` di Trento.
"Swimming and geometric control" The study of swimming strategies of biological organisms is attracting increasing interest in the literature, moreover recently is emerging a connection between swimming and geometric control theory.
We present the geometrical setting of the swimming problem in terms of Lie groups, principal fiber bundles and fluid dynamic connection. Then we reinterpret the equation of motion of a deformable body immersed either in an ideal or viscous fluid, as a drift less affine control system assuming to be able to prescribe the shape of the swimmer. Finally we give some results on its controllability.
11:30-11:55 N. Sansonetto.
Universita` di Verona.
 "Some aspects of the integrability of nonholonomic systems with symmetry"
In Hamiltonian mechanics, symmetry implies the existence of first integrals, and the link with integrability is described by the Liouville-Arnol’d Theorem and its noncommutative generalizations. In nonholonomic mechanics the situation is different and not fully understood: symmetries not necessarily produceds first integrals. In this talk we discuss a possible link between symmetries and first integrals and  give some preliminary results related to the integrability of a nonholonomic system with symmetry.
Break      
12:15-13:00 P. Fiorini e R. Muradore.
Universita` di Verona.
 "Over- and under-actuated robotic systems: applications and challenges"  
Lunch      
15:00-15:45 L. Garcia-Naranjo.
UNAM, Mexico.
"The dynamics of an articulated n-trailer vehicle". We derive the reduced equations of motion for an articulated n-trailer vehicle that moves under its own inertia on the plane. We show that the energy level surfaces in the reduced space are (n + 1)-tori and we classify the equilibria within them, determining their stability. A thorough description of the dynamics is given in the case n=1. The main results of this work were recently published in Bravo-Doddoli A. and Garcia Naranjo L.C., The dynamics of an articulated $n$-trailer vehicle, Regular and Chaotic Dynamics, 20, 497-517, (2015).
15:45 Discussion    

Organizers: F. Cardin, F. Fasso`
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Abstracts of the seminars

2014

July 2 Larry Bates University of Calgary An extension of the Dirac theory of constraints
June 30 Boris Khesin University of Toronto Pentagram maps and nondegenerate curves
April 15 Anatoly Neishtadt Mosca e Loughborough On mechanisms of destruction of adiabatic invariance
February 2 Livia Corsi Universita' di Roma La Sapienza An abstract Implicit Function Theorem and quasi-periodic solutions
for Hamiltonian PDEs on homogeneous manifolds

 

2013

November 25 Boris Zhilinskii Universite' du Littoral Cote d'Opale, Dunkerque Qualitative features of the rearrangement of molecular energy spectra from a "wall-crossing" perspective
October 1 Mauro Spera Universita' Cattolica del Sacro Cuore, Brescia On geometrical and physical aspects of some unitary Riemann surface braid group representations
May 15 Cornelia Vizman West University of Timisoara Noncommutative integrability and dual pairs in symplectic and contact geometry
February 2 Bob Rink VU University, Amsterdam Ferromagnetic crystals and the destruction of minimal foliations

 

2012

June 19 Luis Garcia-Naranjo ITAM - Mexico City Measure preservation in nonholonomic mechanics
October 29 Enrico Pagani Universita' di Trento Calcolo delle variazioni in presenza di vincoli cinetici

 

2011

Dec 13 Lorenzo Zanelli Universita` di Bologna The weak KAM theory in semiclassical analysis
June 27 Alessandro Arise Toledo, Ohio Equations of Lax type, height functions and deformations
May 11 Christos Efthimiopoulos Academy of Athens The speed of Arnold diffusion
March 3 Alberto Abbondandolo Universita` di Pisa Fenomeni di squeezing e non-squeezing nelle dimensioni intermedie

 

2010

Dec 1 Gaetano Zampieri Universita` di Verona Instabilita' debole e isocronia per sistemi dinamici Hamiltoniani
Nov 11 Gerhard Wanner Universita` di Ginevra The discovery of the Ritz-Galerkin 100 yers ago
Sept 2 Luis Garcia-Naranjo EPFL Non-Liouville integrability for a variant of the Nonholonomic Suslov problem
June 15 Daniele Sepe Universita` di Edinburgo Lagrangian Fibrations and Affine Geometry
May 5 Yakov Pesin Pennsylvania State University Genericity of chaotic behavior
March 25 Christian Lubich Universita' di Tubinga The Fermi-Pasta-Ulam problem, and modulated Fourier expansions
March 22 Andrea Sacchetti Universita` di Modena e Reggio Emilia Analisi semiclassica per l'equazione di Schrödinger non lineare

 

2009

June 2 Heleni Christodoulidi Universita' di Patras, Grecia The Fermi Pasta Ulam paradox and the localized solutions in the Fourier space
May 8 Bob Rink VU University, Amsterdam Integrable continuum equations for the Fermi-Pasta-Ulam chain

 

2008

Sept 9 Andrea Boattini The University of Arizona, USA

The Catalina Sky Survey: transitioning through NEO survey generations

June 24 Olga Bernardi Universita` di Padova Localizzazione degli insiemi di Aubry-Mather tramite tecniche
di localizzazione ispirate alle teorie di viscosità
June 17 Larry Bates University of Calgary, Canada Symmetry, periodic solutions of Hamiltonian systems, and the isotropic
symplectic groups
May 5 Elena Celledoni Universita` di Trondheim, Norway Energy-preserving methods and B-series
Febr 26 Armando Bazzani Universita` di Bologna Emergent properties in models for pedestrian dynamics

 

2007

Nov 20 Massimo Villarini Universita` di Modena e Reggio Emilia Molteplicita' di soluzioni periodiche per Hamiltoniane naturali
Nov 8 Antonio Siconolfi Roma La Sapienza Omogeneizzazione di  Hamiltoniane in ambiente stazionario ergodico
Nov 6 Dmitrii Sadovskii Universite' du Littoral, France Classification of perturbations of the hydrogen atom in small static electric and magnetic fields: resonance zone structure
Oct 30 James Montaldi University of Manchester, UK Bifurcations in Hamiltonian systems with symmetry: the role of zero momentum
Oct 16 Anna Maria Cherubini Universita` del Salento Comportamento asintotico di una 'pallina che rimbalza'
Oct 2 Alessandra Celletti Universita` di Roma 2 Mercurio e gli attrattori quasi-periodici
May 8 Andrea Giacobbe Universita` di Padova Singolarita' di sistemi completamente integrabili a 2 gradi di liberta`
Febr 27 Carlangelo Liverani Universita` di Roma Tor Vergata Fourier Law And Random Walks In Dynamical Environment
Febr 8 Hisao Fujita Yashima Universita` di Torino Equazioni della dinamica dei ghiacciai alpini
Febr 6 Jayme De Luca Universidade Federal de São Carlos - Brasil Is there any global solution for the relativistic Lorentz-Dirac equation
of motion of two point charges?
Jan 23 Antonio Ponno Universita` di Padova Il problema di Fermi-Pasta-Ulam: stato dell'arte e sviluppi recenti