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Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
This article presents a method to automatically generate energy-optimal trajectories for systems with linear dynamics, linear constraints, and a quadratic cost functional (LQ systems). First, using recent advancements in optimal control, we…
We investigate ballistic vibrational energy transport through optical phonon band in oligomeric chains in the presence of decoherence. An exact solution is obtained for the excitation density in the space-time representation in the…
Molecular motors transduce chemical energy obtained from hydrolizing ATP into mechanical work exerted against an external force. We calculate their efficiency at maximum power output for two simple generic models and show that the…
The computational efficiency of stochastic simulation algorithms is notoriously limited by the kinetic trapping of the simulated trajectories within low energy basins. Here we present a new method that overcomes kinetic trapping while still…
We use optimal control theory to obtain shortcuts to adiabaticity which maximize population transfer in a three-level STIRAP system, for a given finite duration of the process and specified dissipation rate at the intermediate state. We fix…
An adjoint-based optimization is applied to study the thrust performance of a pitching-rolling ellipsoidal plate in a uniform stream at Reynolds number 100. To achieve the highest thrust, the optimal kinematics of pitching-rolling motion is…
We design optimal harmonic-trap trajectories to transport cold atoms without final excitation, combining an inverse engineering techniqe based on Lewis-Riesenfeld invariants with optimal control theory. Since actual traps are not really…
We consider a suspended elastic rod under longitudinal compression. The compression can be used to adjust potential energy for transverse displacements from harmonic to double well regime. The two minima in potential energy curve describe…
The Stimulated Raman Adiabatic Passage on a three-state system interacting with a spin bath is considered focusing on the efficiency of the population transfer. Our analysis is based on the perturbation treatment of the interaction term…
Transfer learning has become crucial in computer vision tasks due to the vast availability of pre-trained deep learning models. However, selecting the optimal pre-trained model from a diverse pool for a specific downstream task remains a…
We propose a method for quantum state transfer in spin chains using an adiabatic passage technique. Modifying even and odd nearest-neighbour couplings in time allows to achieve transfer fidelities arbitrarily close to one, without the need…
In this work we include, for the Carnot cycle, irreversibilities of linear finite rate of heat transferences between the heat engine and its reservoirs, heat leak between the reservoirs and internal dissipations of the working fluid. A…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
Quantum batteries are energy storage devices that satisfy quantum mechanical principles. How to improve the battery's performance such as stored energy and power is a crucial element in the quantum battery. Here, we investigate the charging…
This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynamics may switch to free-fall when the tension of the cable…
This paper presents models and optimization algorithms to jointly optimize the design and control of the transmission of electric vehicles equipped with one central electric motor (EM). First, considering the required traction power to be…
We consider a suspended elastic rod under longitudinal compression. The compression can be used to adjust potential energy for transverse displacements from harmonic to double well regime. The two minima in potential energy curve describe…
Badminton, known for having the fastest ball speeds among all sports, presents significant challenges to the field of computer vision, including player identification, court line detection, shuttlecock trajectory tracking, and player…
A computational approach is developed for the design of continuous low thrust transfers in the planar circular restricted three-body problem. The transfer design method of invariant manifolds is extended with the addition of continuous low…