... systems with closed loops under a set of linear equality and inequality constraints using the notion of projection operator. The controller does not require the kinematic constraints to be independent, i.e., systems with time-varying topology can be dealt with, while demanding minimum-norm actuation force...

...Stefania Tonetti; Pierangelo Masarati This paper presents a method to study multibody system dynamics based on graph theory. The transfer function between any pair of bodies of nonhomogeneous multibody systems with arbitrary topology can be computed without any matrix inversion. The analysis...

...József Kövecses; Josep M. Font-Llagunes Mechanical systems with time-varying topology appear frequently in natural or human-made artificial systems. The nature of topology transitions is a key characteristic in the functioning of such systems. In this paper, we discuss a concept that can offer...

...Kai Sedlaczek; Peter Eberhard The modern design process of mechanical structures is increasingly influenced by highly sophisticated methods of topology optimization that can automatically synthesize optimal design variants. However, the typically finite-element-based methods are limited to design...