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Rock skipping is a highly dynamic and relatively complex task that can easily be performed by humans. This project aims to bring rock skipping into a robotic setting, utilizing the lessons we learned in Robotic Manipulation. Specifically,…
A non-contact linear slider based on stable superconducting magnetic levitation with a long permanent magnet as a slider and two fixed superconducting disks which define the slide way has been designed, built and tested. The slider can be…
We consider the systematic force on a heavy probe induced by interaction with an overdamped diffusive medium where particles undergo a rotating force around a fixed center. The stiffness matrix summarizes the stability of the probe around…
This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are…
A rigid body, with an interior cavity entirely filled with a Navier-Stokes liquid, moves in absence of external torques relative to the center of mass of the coupled system body-liquid (inertial motions). The only steady-state motions…
We investigate the sliding of objects on an inclined granular surface close to the avalanche threshold. Our experiments show that the stability is driven by the surface deformations. Heavy objects generate footprint-like deformations which…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Objective: To derive a closed-form analytical solution to the swing equation describing the power system dynamics, which is a nonlinear second order differential equation. Existing challenges: No analytical solution to the swing equation…
We consider a mechanical system consisting of an infinite rod (a straight line) and a ball (a massless point) on the plane. The rod rotates uniformly around one of its points. The ball is reflected elastically when colliding with the rod…
We study the motion of neutral and charged spinning bodies in curved space-time in the test-particle limit. We construct equations of motion using a closed covariant Poisson-Dirac bracket formulation which allows for different choices of…
We show stability of spherical caps (SCs) lying on a flat surface, where the motion is governed by the volume-preserving Mean Curvature Flow (MCF). Moreover, we introduce a dynamic boundary condition that models a line tension effect on the…
Rolling of a small sphere on a solid support is governed by a non-linear friction that is akin to the Coulombic dry fiction. No motion occurs when the external field is weaker than the frictional resistance. However, with the intervention…
We solve analytically the differential equations for a skier on a circular hill and for a particle on a loop-the-loop track when the hill or track is endowed with a coefficient of kinetic friction $\mu$. For each problem, we determine the…
We study the kinematic relative velocity of general test particles with respect to stationary observers (using spherical coordinates) in Schwarzschild spacetime, obtaining that its modulus does not depend on the observer, unlike Fermi,…
Trajectories are fundamental in different skiing disciplines. Tools enabling the analysis of such curves can enhance the training activity and enrich the broadcasting contents. However, the solutions currently available are based on…
The "squirmer model" is a classical hydrodynamic model for the motion of interfacially-driven microswimmers, such as self-phoretic colloids or volvocine green algae. To date, most studies using the squirmer model have considered spherical…
The most spiral galaxies have a flat rotational velocity curve, according to the different observational techniques used in several wavelengths domain. In this work, we show that non-linear terms are able to balance the dispersive effect of…
We investigate the motion of neutral test particles in the gravitational field of a mass $M$ with charge $Q$ described by the Reissner-Nordstr\"om (RN) spacetime. We focus on the study of circular stable and unstable orbits around…
It is shown that an internal control based on a moving indicator function is able to stabilize the state of parabolic equations evolving in rectangular domains. For proving the stabilizability result, we start with a control obtained from…
We present and analyse a simple model for the twisting somersault. The model is a rigid body with a rotor attached which can be switched on and off. This makes it simple enough to devise explicit analytical formulas whilst still maintaining…