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We investigate the dynamics of the Josephson vortex lattice in layered high-T$_{c}$ superconductors at high magnetic fields. Starting from coupled equations for superconducting phases and magnetic field we derive equations for the relative…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…
We apply round-off to planar rotations, obtaining a one-parameter family of invertible maps of a two-dimensional lattice. As the angle of rotation approaches pi/2, the fourth iterate of the map produces piecewise-rectilinear motion, which…
Let G be a countable group. We show there is a topological relationship between the space CO(G) of circular orders on G and the moduli space of actions of G on the circle; as well as an analogous relationship for spaces of left orders and…
The Einstein-Proca action is known to have asymptotically locally Lifshitz spacetimes as classical solutions. For dynamical exponent z=2, two-point correlation functions for fluctuations around such a geometry are derived analytically. It…
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base.…
We study planar clusters consisting of loops including a Josephson $\pi$-junction ($\pi$-rings). Each $\pi$-ring carries a persistent current and behaves as a classical orbital moment. The type of particular state associated with the…
When the coefficients of a Jacobi operator are finitely supported perturbations of the 1 and 0 sequences, respectively, the left reflection coefficient is a rational function whose poles inside, respectively outside, the unit disk…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
We consider toric dynamical systems, which are also called complex-balanced mass-action systems. These are remarkably stable polynomial dynamical systems that arise from the analysis of mathematical models of reaction networks when, under…
The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
We give some concrete examples of moduli spaces of connections. Precisely, we explain how to explicitly construct the moduli spaces of rank 2 fuchsian systems and logarithmic connections on the Riemann sphere with 4 poles. The former ones…
This paper studies the dynamical properties of closed-loop systems obtained from control barrier function-based safety filters. We provide a sufficient and necessary condition for the existence of undesirable equilibria and show that the…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
We study the dynamics of a finite chain of diffusively coupled Lorenz oscillators with periodic boundary conditions. Such rings possess infinitely many fixed states, some of which are observed to be stable. It is shown that there exists a…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
This study investigates a detailed analytical and numerical investigation of a nonlinear two-degree-of-freedom (2DOF) mechanical oscillator subjected to parametric excitation, magnetic stiffness nonlinearities, and dry friction. The…
Knots naturally appear in continuous dynamical systems as flow periodic trajectories. However, discrete dynamical systems are also closely connected with the theory of knots and links. For example, for Pixton diffeomorphisms, the…