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Hydrodinamically Coupled Motion of Multibody System in Ideal Fluid: Geometric Mechanics Approach

In order to study dynamics of multibody system (MBS) moving at low Reynolds number in ambient fluid, we take geometric modelling approach of fully coupled MBS-fluid system, incorporating Boundary Integral Method of Galerkin type for calculating added masses, and Lie group MBS integrator. Our aim is to explore numerical advantages of such an approach in comparison to the ’standard’ procedures that comprise volume discretisation of a fluid domain.

MBS-fluid system; Boundary Integral Method of Galerkin type; Lie-groups; Multibody Systems Dynamics; Lie group MBS integrator

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