Related papers: Beyond the Kinetic Chain Process in a Stroke using…
This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a full order dynamics model for the robot and formulate each…
This paper presents a brief description of the Tabu Search method and shows how it can be applied to two different power transmission systems. Examples are presented from two transmission systems. In the first example a mechanical…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
Fueled by the hydrolysis of ATP, the motor protein kinesin literally walks on two legs along the biopolymer microtubule. The number of accidental backsteps that kinesin takes appears to be much larger than what one would expect given the…
Spin chains have been proposed as quantum wires for information transfer in solid state quantum architectures. We show that huge gains in both transfer speed and fidelity are possible using a minimalist control approach that relies only a…
We analyze the control of the motion of a charged particle by means of an external electric field. The system is constrained to move along a given direction. The goal of the control is to change the speed of the particle in a fixed time…
The traction force of a kite can be used to drive a cyclic motion for extracting wind energy from the atmosphere. This paper presents a novel quasi-steady modelling framework for predicting the power generated over a full pumping cycle. The…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
We investigate the optimal charging processes for several models of quantum batteries, finding how to maximize the energy stored in a given battery with a finite-time modulation of a set of external fields. We approach the problem using…
The efficiency of a quantum heat engine is maximum when the unitary strokes are adiabatic. On the other hand, this may not be always possible due to small energy gaps in the system, especially at the critical point where the gap vanishes.…
It is shown that effective quantum-state and entanglement transfer can be obtained by inducing a coherent dynamics in quantum wires with homogeneous intrawire interactions. This goal is accomplished by tuning the coupling between the wire…
We present an optimal analysis for a quantum mechanical engine working between two energy baths within the framework of relativistic quantum mechanics, adopting a first-order correction. This quantum mechanical engine, with the direct…
Kinetic approaches provide an effective description of the process of particle acceleration at shock fronts and allow to take into account the dynamical reaction of the accelerated particles as well as the amplification of the turbulent…
This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric…
We introduce a cyclic quantum battery model, based on an interacting bipartite system, weakly coupled to a thermal bath. The working cycle of the battery consists of four strokes: system thermalization, disconnection of subsystems,…
Using a model heat engine, we show that neural network-based reinforcement learning can identify thermodynamic trajectories of maximal efficiency. We consider both gradient and gradient-free reinforcement learning. We use an evolutionary…
Transport of a particle in a spatially periodic harmonic potential under the influence of a slowly time-dependent unbiased periodic external force is studied. The equations of motion are the same as in the problem of a slowly forced…
We introduce an algorithm to perform an optimal adiabatic evolution that operates without an apriori knowledge of the system spectrum. By probing the system gap locally, the algorithm maximizes the evolution speed, thus minimizing the total…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…