Objective
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.
Fields of science (EuroSciVoc)
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
- natural sciences physical sciences astronomy space exploration
- engineering and technology electrical engineering, electronic engineering, information engineering electronic engineering robotics
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Programme(s)
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Topic(s)
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Call for proposal
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
FP6-2002-MOBILITY-5
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Funding Scheme
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Coordinator
LONDON
United Kingdom
The total costs incurred by this organisation to participate in the project, including direct and indirect costs. This amount is a subset of the overall project budget.