Related papers: A Convex Polynomial Force-Motion Model for Planar …
Using results from Schramm Loewner evolution (SLE), we give the expression of the fluctuation-induced force exerted by a polymer on a small impenetrable disk, in various 2-dimensional domain geometries. We generalize to two polymers and…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
The classical continuous mixed formulation of linear elasticity with pointwise symmetric stresses allows for a conforming finite element discretization with piecewise polynomials of degree at least three. Symmetric stress approximations of…
We obtain the full equations of motion for a wide, pivoted, slider bearing. These are used to review the choice of the optimal position for the pivot point, to discuss its response to time-dependent sliding velocity, and to determine the…
The problem of the spreading of a granular mass released at the top of a rough inclined plane was investigated. We experimentally measure the evolution of the avalanche from the initiation up to the deposit using a Moir\'e image processing…
We investigate the effective friction encountered by a mass sliding on a granular layer as a function of bed thickness and boundary roughness conditions. The observed friction has minima for a small number of layers before it increases and…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
A brief review is presented of the scaling of complex fluids, polymers and polyelectrolytes in solution and in confined geometry, in thermodynamical, structural and rheology properties using equilibrium and nonequilibrium dissipative…
We consider the classical Prandtl-Tomlinson model of a particle moving on a corrugated potential, pulled by a spring. In the usual situation in which pulling acts at constant velocity $\dot\gamma$, the model displays an average friction…
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of…
Composite minimization involves a collection of smooth functions which are aggregated in a nonsmooth manner. In the convex setting, we design an algorithm by linearizing each smooth component in accordance with its main curvature. The…
In this paper, we introduce a method known as polynomial frame approximation for approximating smooth, multivariate functions defined on irregular domains in $d$ dimensions, where $d$ can be arbitrary. This method is simple, and relies only…
The invariant distribution, which is characterized by the stationary Fokker-Planck equation, is an important object in the study of randomly perturbed dynamical systems. Traditional numerical methods for computing the invariant distribution…
An elastic layer slides on a rigid flat governed by Coulomb's friction law. We demonstrate that if the coefficient of friction is high enough, the sliding localizes within stick-slip pulses, which transform into opening waves propagating at…
In this work, we introduce ProMotion, a unified prototypical framework engineered to model fundamental motion tasks. ProMotion offers a range of compelling attributes that set it apart from current task-specific paradigms. We adopt a…
The notion of periodic two-scale convergence and the method of periodic unfolding are prominent and useful tools in multiscale modeling and analysis of PDEs with rapidly oscillating periodic coefficients. In this paper we are interested in…
In this paper, we consider the dynamics of a heavy homogeneous ball moving under the influence of dry friction on a fixed horizontal plane. We assume the ball to slide without rolling. We demonstrate that the plane may be divided into two…
This paper develops a comprehensive two-dimensional generalisation of the recently introduced Friction with Bristle Dynamics (FrBD) framework for rolling contact problems. The proposed formulation extends the one-dimensional FrBD model to…
We develop and analyze an asynchronous algorithm for distributed convex optimization when the objective writes a sum of smooth functions, local to each worker, and a non-smooth function. Unlike many existing methods, our distributed…
A novel control design approach for general nonlinear systems is described in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. Extensive…