Research Overview In this paper, we present a comprehensive description of thermodynamics in a differential geometric setting for a general non-relativistic continuum mechanical system. In order to deal […]
Dual-field Finite Element Exterior Calculus
Research Overview In this work we propose a novel approach to discretize linear port-Hamiltonian systems while preserving the underlying structure. We present a finite element exterior calculus formulation […]
Energy Aware Impedance Control
Research Overview In this work, we design an energy-aware impedance control approach for aerial physical interaction in the port-Hamiltonian framework. Our objective is to enhance the basic geometric […]
Georges Giralt PhD Award 2022 Finalist
Ramy Rashad has been selected as a finalist for the Georges Giralt PhD Award 2022 presented at the European Robotics Forum, organized by the University of Twente at […]
ICRA2022 Workshop
Workshop Details Full-day workshop at the 2022 IEEE International Conference on Robotics and Automation (ICRA) which took place on May 27th 2022 in Phialdelphia, USA. Organized by: Ramy […]
Fluid-Structure-Interaction
Research Overview The goal of this work is to extend the existing port-Hamiltonian theory of open distributed parameter systems on fixed spatial domains to the practically relevant case […]
Multirotor UAVs
Research Overview In this paper we present a systematic modeling framework for generic MAVs that encompasses a wide spectrum of possible designs. We assume the MAVs are driven […]
FEM of von Karman Beams
Research Overview In this contribution, the von Karman beam model is formulated as a port-Hamiltonian system. The selection of energy variables will be such to make the Hamiltonian […]
IFAC LHMNC21 Presentation
This video is my presentation on the paper “Exterior and Vector Calculus Views of Incompressible Navier-Stokes Port-Hamiltonian Models” at the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods […]
Physical Sliding with Unknown surface
Research Overview This work focuses on the automatic aerial contact-based sliding interaction (inspection/cleaning) tasks in aerial robotics allowing a 3D force with a constant norm to be applied […]