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This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Modeling dispersed solid phases in fluids still represents a computational challenge when considering a small-scale coupling in wide systems, such as the atmosphere or industrial processes at high Reynolds numbers. A numerical method is…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input…
We introduce a two-dimensional discrete-time dynamical system which represents the evolution of an angle and angular velocity. While the angle evolves by a fixed amount in every step, the evolution of the angular velocity is governed by a…
This paper addresses an optimization problem in satellite observation mission planning, focusing on the challenges of decentralized decision-making among satellites, which is crucial for optimizing strategies in dynamic observation…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Differences between computer simulation of dynamical systems and laboratory experiments are common in teaching and research in engineering. Normally, numerical inaccuracy and the non-ideal behaviour of the devices involved in the experiment…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied…
This paper proposes a novel way to solve transient linear, and non-linear solid dynamics for compressible, nearly incompressible, and incompressible material in the updated Lagrangian framework for tetrahedral unstructured finite elements.…
The advection and mixing of a scalar quantity by fluid flow is an important problem in engineering and natural sciences. If the fluid is turbulent, the statistics of the passive scalar exhibit complex behavior. This paper is concerned with…
We present a theory of modified reduced dynamics in the presence of counting fields. Reduced dynamics techniques are useful for describing open quantum systems at long emergent timescales when the memory timescales are short. However, they…
Strongly-coupled gauge theories far from equilibrium may exhibit unique features that could illuminate the physics of the early universe and of hadron and ion colliders. Studying real-time phenomena has proven challenging with…
We analyze networked heterogeneous nonlinear systems, with diffusive coupling and interconnected over a generic static directed graph. Due to the network's hetereogeneity, complete synchronization is impossible, in general, but an emergent…
The paper presents instructive interdisciplinary applications of constrained mechanics calculus in economics on a level appropriate for the undergraduate physics education. The aim of the paper is: 1. to meet the demand for illustrative…
In this paper, we put forth an evolve-then-correct reduced order modeling approach that combines intrusive and nonintrusive models to take hidden physical processes into account. Specifically, we split the underlying dynamics into known and…