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Induced by proteins within the cell membrane or by differential growth, heating, or swelling, spontaneous curvatures can drastically affect the morphology of thin bodies and induce mechanical instabilities. Yet, the interaction of…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
Here we study the instability of the vortex motion caused by vortex velocity non-monotonous dependence of the friction force in the presence of a gyro-force. We demonstrate that even a weak gyro-force renders the condition for onset of…
We show a noise-induced transition in Josephson junction with fundamental as well as second harmonic. A periodically modulated multiplicative colored noise can stabilize an unstable configuration in such a system. The stabilization of the…
Soft composite solids are made of inclusions dispersed within soft matrices. They are ubiquitous in nature and form the basis of many biological tissues. In the field of materials science, synthetic soft composites are promising candidates…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Assembly and stability of mitotic spindle is governed by the interplay of various intra-cellular forces, e.g. the forces generated by motor proteins by sliding overlapping anti-parallel microtubules (MTs) polymerized from the opposite…
Even the most regular stick-slip frictional sliding is always stochastic, with irregularity in both the intervals between slip events and the sizes of the associated stress drops. Applying small-amplitude oscillations to the shear force, we…
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…
Cracks, the major vehicle for material failure, tend to accelerate to high velocities in brittle materials. In three-dimensions, cracks generically undergo a micro-branching instability at about 40% of their sonic limiting velocity. Recent…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
A general force-perturbation-based criterion for solid instability is proposed, which can predict instability including crease without priori knowledge of instability configuration. The crease instability is analyzed in detail, we found…
This paper presents a research devoted to the study of instability phenomena in non-linear model with a constant brake friction coefficient. This paper outlines the stability analysis and a procedure to reduce and simplify the non-linear…
Symmetry-breaking instability of a laterally uniform granular cluster (strip state) in a prototypical driven granular gas is investigated. The system consists of smooth hard disks in a two-dimensional box, colliding inelastically with each…
Frictional forces are a key ingredient of any physical description of the macroscopic world, as they account for the phenomena causing transformation of mechanical energy into heat. They are ubiquitous in nature, and a wide range of…
Force-based models describe pedestrian dynamics in analogy to classical mechanics by a system of second order ordinary differential equations. By investigating the linear stability of two main classes of forces, parameter regions with…
We study the instability development during a viscous liquid drop impacting a smooth substrate, using high speed photography. The onset time of the instability highly depends on the surrounding air pressure and the liquid viscosity: it…
The energy transition is causing many stability-related challenges for power systems. Transient stability refers to the ability of a power grid's bus angles to retain synchronism after the occurrence of a major fault. In this paper a…
Friction is fundamental to mechanical stability across scales, from geological faults and architectural structures to granular materials and animal feet. We study the mechanical stability of a minimal friction-stabilized structure composed…
A state observer design for the inertia wheel pendulum considering static friction of the actuated inertia disc is presented. The frictional force is modeled by the Stribeck effect, with two separate differential equations describing the…