Research Overview Identifying the underlying structure of partial differential equations is a fundamental topic in modern treatments of continuum mechanics and field theories in general. Not only does […]

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 […]

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 […]

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 […]

Research Overview The specific aim of this work is to extend the port-Hamiltonian formulation of ideal compressible fluids (Euler equations) to Newtonian viscous fluids (Navier–Stokes equations). The way […]

Research Overview Fluid mechanics has been studied in the literature using both the Lagrangian and Hamiltonian formalism. In the classical Hamiltonian theory for fluid dynamical systems, a fundamental […]

This work has been published as Ch.4 of my PhD thesis. The study of rigid body modeling is central to the mathematical theories of robotics. The topic of […]