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Incremental stability is a property of dynamical systems ensuring the uniform asymptotic stability of each trajectory rather than a fixed equilibrium point or trajectory. Here, we introduce a notion of incremental stability for stochastic…
Nonlinear forces allow motion of a mechanical oscillator to be squeezed below the zero-point motion. Of existing methods, mechanical parametric amplification is relatively accessible, but previously thought to be limited to 3dB of squeezing…
Nonlinear modal decoupling (NMD) was recently proposed to nonlinearly transform a multi-oscillator system into a number of decoupled oscillators which together behave the same as the original system in an extended neighborhood of the…
This study shows that typical pendulum dynamics is far from the simple equation of motion presented in textbooks. A reasonably complete damping model must use nonlinear terms in addition to the common linear viscous expression. In some…
We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negative feedback contributions to guarantee robust oscillations.…
We study the jump phenomenon present in the forced asymmetric Duffing oscillator using the known steady-state asymptotic solution. The major result is the computation of the jump manifold, which encodes global information about all possible…
We describe an experiment involving a mass oscillating in a viscous fluid and analyze viscous damping of harmonic motion. The mechanical oscillator is tracked using a simple webcam and an image processing algorithm records the position of…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
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…
Small amplitude oscillations are a commonly observed feature in prominences/filaments. These oscillations appear to be of local nature, are associated to the fine structure of prominence plasmas, and simultaneous flows and counterflows are…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
We introduce a new approach to deriving approximate analytical solutions of a harmonic oscillator damped by purely nonlinear, or combinations of linear and nonlinear damping forces. Our approach is based on choosing a suitable trial…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Using a combination of theory, experiment, and simulation, we revisit the dynamics of two coupled metronomes on a moving platform. Our experiments show that the platform's motion is damped by a dry friction force of Coulomb type, not the…
Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information…
This paper investigates two optimization criteria for damping optimization in a multi-body oscillator system with arbitrary degrees of freedom ($n$), resembling string/rod free vibrations. The total average energy over all possible initial…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…
Many combinatorial optimization problems can be mapped to finding the ground states of the corresponding Ising Hamiltonians. The physical systems that can solve optimization problems in this way, namely Ising machines, have been attracting…