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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.…
In this review we summarize theoretical progress in the field of active matter, placing it in the context of recent experiments. Our approach offers a unified framework for the mechanical and statistical properties of living matter:…
We consider the basic features of complex dynamical and control systems. Special attention is paid to the problems of synthesis of dynamical models of complex systems, construction of efficient control models, and to the development of…
The passive flight of a thin wing or plate is an archetypal problem in flow-structure interactions at intermediate Reynolds numbers. This seemingly simple aerodynamic system displays an impressive variety of steady and unsteady motions that…
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…
The internal dynamics of active gels, both in artificial (in-vitro) model systems and inside the cytoskeleton of living cells, has been extensively studied by experiments of recent years. These dynamics are probed using tracer particles…
Thin viscous fluid threads falling onto a moving belt behave in a way reminiscent of a sewing machine, generating a rich variety of periodic stitch-like patterns including meanders, W-patterns, alternating loops, and translated coiling.…
Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures that influence the aerodynamic forces, which can be…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
We investigate the problem of market mechanism design for wind energy. We consider a dynamic two-step model with one strategic seller with wind generation and one buyer, who trade energy through a mechanism determined by a designer. The…
The significant electrical distance between wind power collection points and the main grid poses challenges for weak grid-connected wind power systems. A new type of voltage oscillation phenomenon induced by repeated low voltage…
In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect. The micro ornithopter is modeled as four articulated rigid body components (wings) connected to the main body via…
Time-based dynamic models of cascading failures have been recognized as one of the most comprehensive methods of representing detailed cascading information and are often used for benchmarking and validation. This paper provides an overview…
The modeling of cascading failure in power systems is difficult because of the many different mechanisms involved; no single model captures all of these mechanisms. Understanding the relative importance of these different mechanisms is an…
Modern power steering systems employ an electric motor drive system to provide torque assistance to the driver. The closed-loop mechanical system dynamics that impact stability, performance and steering feel are significantly impacted by…
We present a very simple electronic implementation of the tent map, one of the best-known discrete dynamical systems. This is achieved by using integrated circuits and passive elements only. The experimental behavior of the tent map…
Step strain experiments and dynamic light scattering measurements are perfomed to characterize the dynamic behavior of an o/w droplet microemulsion into which is incorporated a telechelic polymer. At sufficient droplet and polymer…
We examine the problem of weaknesses in frameworks of conceptual modeling for handling certain aspects of the system being modeled. We propose the use of a flow-based modeling methodology at the conceptual level. Specifically, and without…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
The premise of this paper is the following value proposition: Models are good when they describe a system of phenomena, and they are better when they can predict the effect of interventions upon the system. We introduce a formalism by which…