Related papers: On ideal dynamic climbing ropes
We analyze a simple problem in elasticity: the \emph{initial} motion of an elastic bar that after being hanged from an end is suddenly released. In a second problem a point mass is attached on the top of the bar. The analytical solutions…
We consider a problem on maximizing the height of vertical flight of a material point ("meteorological rocket") in the presence of a nonlinear friction and a constant flat gravity field under a bounded thrust and fuel expenditure. The…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…
Innovative shared mobility services provide on-demand flexible mobility options and have the potential to alleviate traffic congestion. These attractive services are challenging from different perspectives. One major challenge in such…
Robust network design refers to a class of optimization problems that occur when designing networks to efficiently handle variable demands. The notion of "hierarchical hubbing" was introduced (in the narrow context of a specific robust…
In this work we study the problem of rope sway dynamics control for elevator systems. We choose to actuate the system with a semi-active damper mounted on the top of the elevator car. We propose nonlinear controllers based on Lyapunov…
We consider the problem of optimizing heat transport through an incompressible fluid layer. Modeling passive scalar transport by advection-diffusion, we maximize the mean rate of total transport by a divergence-free velocity field. Subject…
We investigate by exact optimization methods the roughening of two and three-dimensional systems of elastic lines with point disorder and hard-core repulsion with open boundary conditions. In 2d we find logarithmic behavior whereas in 3d…
Dynamic mechanism design is a challenging extension to ordinary mechanism design in which the mechanism designer must make a sequence of decisions over time in the face of possibly untruthful reports of participating agents. Optimizing…
This paper considers a two-hop network consisting of a source, two parallel half-duplex relay nodes, and two destinations. While the destinations have an adequate power supply, the source and relay nodes rely on harvested energy for data…
Under mild regularity assumptions, the transport problem is stable in the following sense: if a sequence of optimal transport plans $\pi_1, \pi_2, \ldots$ converges weakly to a transport plan $\pi$, then $\pi$ is also optimal (between its…
We consider optimal control problems for partial differential equations where the controls take binary values but vary over the time horizon, they can thus be seen as dynamic switches. The switching patterns may be subject to combinatorial…
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage…
This work considers the problem of selective-sampling for best-arm identification. Given a set of potential options $\mathcal{Z}\subset\mathbb{R}^d$, a learner aims to compute with probability greater than $1-\delta$, $\arg\max_{z\in…
The gaits of undulating animals arise from a complex interaction of their central nervous system, muscle, connective tissue, bone, and environment. As a simplifying assumption, many previous studies have often assumed that sufficient…
This paper studies the problem of output agreement in networks of nonlinear dynamical systems under time-varying disturbances, using dynamic diffusive couplings. Necessary conditions are derived for general networks of nonlinear systems,…
An elastic rod, straight in its undeformed state, has a mass attached at one end and a variable length, due to a constraint at the other end by a frictionless sliding sleeve. The constraint is arranged with the sliding direction parallel to…
We present a model system for objects, climbers, which have the ability to move as ASEP particles with non-uniform forward and backward jumping rate dynamics. These climbers are implemented as Mandal-Quan-Jarzynski [1] machines. Climbers on…
In this paper, we investigate optimal control problems governed by semilinear elliptic variational inequalities involving constraints on the state, and more precisely the obstacle problem. Since we adopt a numerical point of view, we first…