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In the experiments on stress-induced phase transitions in SMA strips, several interesting instability phenomena have been observed, including a necking-type instability, a shear-type instability and an orientation instability. By using the…
The sliding friction of a dimer moving over a periodic substrate and subjected to an external force is studied in the steady state for arbitrary temperatures within a one-dimensional model. Nonlinear phenomena that emerge include dynamic…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
Despite being the subject of study for several years, excessive vibration persists in the machining of metal parts. In this context, the Stability Lobe Diagram (SLD) is presented as a viable tool to mitigate this problem as a function of…
The connection between friction and jamming in granular media, molecular glasses, and complex fluids is explored. The paper first reviews the way friction is measured, the types of results that are observed, and what is known about the…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…
Frequency responses of multi-degree-of-freedom mechanical systems with weak forcing and damping can be studied as perturbations from their conservative limit. Specifically, recent results show how bifurcations near resonances can be…
We study the robustness of system estimation to parametric perturbations in system dynamics and initial conditions. We define the problem of sensitivity-based parametric uncertainty quantification in dynamical system estimation. The main…
Motion stages are widely used for precision positioning in manufacturing and metrology applications. However, they suffer from nonlinear premotion (i.e. "static") friction, which adversely affects their speed and motion precision. In this…
Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
This study numerically investigated the friction of viscoelastic objects with grooves. A 3D viscoelastic block with grooves on a rigid substrate is slowly pushed from the lateral side under uniform pressure on the top surface. The local…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
Robustness of hybrid control systems to measurement noise, actuator disturbances, and more generally perturbations, is analyzed. The relationship between the robustness of a hybrid control system and of its implementations is emphasized.…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
It has long been recognized that the key to understand kinetic friction force $F_k$ is the analysis of microscopic instabilities that lead to sudden irreversible "pops" of certain degrees of freedom. In this Letter, the nature of such…
The material removal rates during milling operations are affected by the selection of the cutting depth and spindle speed. Poor selection of these parameters can result in chatter or suboptimal material removal rates. Stability Lobe…