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Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
A number of simplified dynamical problems is studied in an attempt to clarify some of the mechanisms leading to turbulence and the existing proposals to control this transition. A simplified set of boundary layer equations displays a…
Grip, walk, crawl, and jump. Soft robots are integrated functional structures composed of compliant mechanisms, whose activity spans various industrial applications such as surgery, healthcare, surveillance, and even planetary exploration.…
Recently, dynamical phase transitions have been identified based on the non-analytic behavior of the Loschmidt echo in the thermodynamic limit [Heyl et al., Phys.~Rev.~Lett.~{\bf 110}, 135704 (2013)]. By introducing conditional probability…
For simulation models of pedestrian dynamics there are always the issues of calibration and validation. These are usually done by comparing measured properties of the dynamics found in observation, experiments and simulation in certain…
The ubiquitous appearance of regions of localized deformation (shear bands) in different kinds of disordered materials under shear is studied in the context of a mesoscopic model of plasticity. The model may or may not include relaxational…
In this paper we present a method of discrete modeling and analysis of multi-level dynamics of complex large-scale hierarchical dynamic systems subject to external dynamic control mechanism. In a model each state describes parallel dynamics…
Helical structures, almost ubiquitous in biological systems, have inspired the design and manufacturing of helical devices with applications in nanoelecromechanical systems (NEMS), morphing structures, optoelectronics, micro-robotics and…
The current driven magnetisation dynamics of a helical spin-density wave is investigated. Expressions for calculating the spin-transfer torque of real systems from first principles density functional theory are presented. These expressions…
Motivated by the modeling of three-dimensional fluid turbulence, we define and study a class of stochastic partial differential equations (SPDEs) that are randomly stirred by a spatially smooth and uncorrelated in time forcing term. To…
For electron transport in parallel-plane semiconducting structures, a model is developed that unifies ballistic and diffusive transport and thus generalizes the Drude model. The unified model is valid for arbitrary magnitude of the mean…
The motion of a bead on a rotating circular hoop is investigated using elementary calculus and simple symmetry arguments. The peculiar trajectories of the bead at different speeds of rotation of the hoop are presented. Phase portraits and…
The study of slender elastic structures is an archetypical problem in continuum mechanics, dynamical systems and bifurcation theory, with a rich history dating back to Euler's seminal work in the 18th century. These filamentary elastic…
The concept of random dynamical system is a comparatively recent development combining ideas and methods from the well developed areas of probability theory and dynamical systems. Due to our inaccurate knowledge of the particular physical…
A mathematically and physically sound three-degree-of-freedom dynamical model that emulates low- to high-confinement mode (L--H) transitions is elicited from a singularity theory critique of earlier fragile models. We construct a smooth map…
An elastic rod model for semi-flexible polymers is presented. Theory for a continuum rod is reviewed, and it is shown that a popular discretised model used in numerical simulations gives the correct continuum limit. Correlation functions…
The two most commonly used methods to model the behaviour of granular flows are discrete element and continuum mechanics simulations. These approaches concentrate on the deterministic description of particle or bulk material motion. Unlike…
We systematically study phase transformations from one helical structure to another. Motivated in part by recent work that relates the presence of compatible interfaces with properties such as the hysteresis and reversibility of a phase…
A spherical model of skeleton with junctions is investigated by Monte Carlo simulations. The model is governed by one-dimensional bending energy. The results indicate that the model undergoes a first-order transition separating the smooth…
The systematic errors due to the practical implementation of the Contact Dynamics method for simulation of dense granular media are examined. It is shown that, using the usual iterative solver to simulate a chain of rigid particles,…