Objectif Non-holonomic systems are a widespread topic in several scientific and practical domains, including robotics and space exploration. They are a special family of the broader class of mechanical systems. Pairs of rigid bodies rolling onto each other in space form a non-holonomic system of rather general type, posing several interesting dynamical and control problems, of which not much is known. The present proposal is concerned with the development of a (local) bifurcation theory for such systems and the related systematic study of the (local) dynamics. The (systematic) study of systems with non-holonomic constraints has received little attention for a long time, especially when compared to the enormous activity in the field of Lagrangian and Hamiltonian mechanics.However, since the 1980s, the intrinsic interdisciplinary character of such a study and the availability of new (geometric) techniques have induced a strong renewed interest in the field. Since then, the theory of non-holonomic mechanics has mainly been approached from two points of view: geometric mechanics, and (non-linear) control theory. Surprisingly, very few studies have been done on the dynamics of non-holonomic mechanical systems. In particular, the (local) bifurcation theory for such systems appears to be a completely open problem. This is remarkable, as several parameters are naturally involved in non-holonomic mechanical problems and variation of parameters often leads to bifurcations.The goal of the project is therefore the development of a bifurcation theory for non-holonomic mechanical systems together with a systematic study of the dynamics. In the absence of any theory at present, we estimate that this project will very likely constitute the basis of a new field, which will provide inputs for new mathematical tools. Also, a deeper understanding will imply a better exploitation of such systems in practical devices with less costs and more reliability as a consequence. Champ scientifique natural sciencesphysical sciencesastronomyspace explorationengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringrobotics Programme(s) FP6-MOBILITY - Human resources and Mobility in the specific programme for research, technological development and demonstration "Structuring the European Research Area" under the Sixth Framework Programme 2002-2006 Thème(s) MOBILITY-2.1 - Marie Curie Intra-European Fellowships (EIF) Appel à propositions FP6-2002-MOBILITY-5 Voir d’autres projets de cet appel Régime de financement EIF - Marie Curie actions-Intra-European Fellowships Coordinateur IMPERIAL COLLEGE OF SCIENCE, TECHNOLOGY AND MEDICINE Contribution de l’UE Aucune donnée Adresse South Kensington Campus LONDON Royaume-Uni Voir sur la carte Liens Site web Opens in new window Coût total Aucune donnée
