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Explicit and semi-explicit geometric integration schemes for dissipative perturbations of Hamiltonian systems are analyzed. The dissipation is characterized by a small parameter $\epsilon$, and the schemes under study preserve the…
The shaking force balancing is a well-known problem in the design of high-speed robotic systems because the variable dynamic loads cause noises, wear and fatigue of mechanical structures. Different solutions, for full or partial shaking…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Many damped mechanical systems oscillate with increasing frequency as the amplitude decreases. One popular example is Euler's Disk, where the point of contact rotates with increasing rapidity as the energy is dissipated. We study a simple…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
The effect of damping in the wave turbulence regime for thin vibrating plates is studied. An experimental method, allowing measurements of dissipation in the system at all scales, is first introduced. Practical experimental devices for…
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 study dissipation as a function of sample thickness in solids under global oscillatory shear applied to the top layer of the sample. Two types of damping mechanism are considered: Langevin and Dissipative Particle Dynamics (DPD). In the…
A system formed by a crowded environment of catalytic obstacles and complex oscillatory chemical reactions is inquired. The obstacles are static spheres of equal radius, which are placed in a random way. The chemical reactions are carried…
Equations of motion are developed for the oscillatory rotation of a disk suspended between twisted strings kept under tension by a hanging mass, to which additional forces may be applied. In the absence of forcing, damped harmonic…
The object of this paper is to investigate, classically and quantum mechanically, the relation existing between the position-dependent effective mass and damping-antidamping dynamics. The quantization of the equations of motion is carried…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
Mechanical vibrations are known to affect frictional sliding and the associated stick-slip patterns causing sometimes a drastic reduction of the friction force. This issue is relevant for applications in nanotribology and to understand…
We study the position estimation of a mechanical oscillator undergoing both detuned parametric amplification and continuous quantum measurement. This model, which can be utilised to produce squeezed states, is applied to a general…
The motion of a driven planar pendulum with vertically periodically oscillating point of suspension and under the action of an additional constant torque is investigated. We study the influence of the torque strength on the transition to…
We study the dynamical behavior of a single degree of freedom mechanical system with a particle damper. The particle (granular) damping was optimized for the primary system operating condition by using an appropriate gap size for a…
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.…
We analyzed theoretically the nonlinear dynamics of a strong magnetic pendulum consisting of a cylindrical neodymium magnet swinging into a metal plane. The heavy damping of oscillations of the pendulum is caused by eddy currents induced in…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…