The dynamics of rolling spheres, rolling hoops, and other adventures

James Forbes - University of Michigan

July 31, 2014, 2 p.m. - July 31, 2014, 3 p.m.

MC 437

In this talk the dynamics of rolling spheres and rolling hoops will be discussed. First, the nonholonomic constraints associated with rolling without slipping on a generic yet sufficiently smooth surface will be discussed. Next, Lagrange's equation will be used to derive the motion equations. Various simulation results will be presented included a sphere rolling through a general ``wave field". Additionally, a new estimation technique will be discussed with an emphasis on rotation matrix estimation.

James Richard Forbes received his B.A.Sc. in Mechanical Engineering (Honours, Co-op) from the University of Waterloo in 2006. While attending the University of Waterloo James participated in the co-op program; James had the opportunity to work in the manufacturing, automotive, rail, and industrial automation (robotics) industries. James was awarded his M.A.Sc. and Ph.D. degrees in Aerospace Science and Engineering from the University of Toronto Institute for Aerospace Studies (UTIAS) in 2008 and 2011, respectively. He was awarded the G. N. Patterson Award for the most outstanding Ph.D. thesis in 2011. From May 2011 to August 2013 James was an Assistant Professor of Mechanical Engineering at McGill University located in Montreal, Quebec, Canada. While at McGill University he was also an associate member of the Centre for Intelligent Machines. James is currently an Assistant Professor of Aerospace Engineering at the University of Michigan. The focus of his research is the dynamics and control of aerospace systems including large flexible space structures, spacecraft, unconventional Mars rovers, and high-altitude balloons.