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This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
The exact equation of spin motion in a cylindrical coordinate system with allowance for electric dipole moments of particles has been derived. This equation is convenient for analytical calculations of spin dynamics in circular storage…
Phase space method provides a novel way for deducing qualitative features of nonlinear differential equations without actually solving them. The method is applied here for analyzing stability of circular orbits of test particles in various…
We prove that the geometric control condition is not necessary to obtain the smoothing effect and the uniform stabilization for the strongly dissipative Schr\"odinger equation.
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…
Principle Equation of Motion (for walkers) is derived that later results in introducing two piecewise-continuous dynamical systems namely Simplified Walking Model (SWM) and Complete Walking Model (CWM) which both describe the behavior of…
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
In this work, we propose a mathematical model for a physical problem based on the movement of a metal piece held by a robot. Using the principles of Kirchoff plate theory, a set of equations determining stresses and deformations caused…
Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger…
The full kinetic dynamics of a perpendicular collisionless shock is studied by means of a one-dimensional electromagnetic full particle simulation. The present simulation domain is taken in the shock rest frame in contrast to the previous…
Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confined and obstacle-rich environments. However, their infinite-dimensional backbone deformation, unmodeled internal friction, and…
Dynamics of a dry-rebounding drop was studied experimentally, numerically, and theoretically. Experimental results were reproduced by our computational fluid dynamics simulations, from which time series of kinetic energy, potential energy,…
We consider spin relaxation dynamics in cold Fermi gases with a pure-gauge spin-orbit coupling corresponding to recent experiments. We show that such experiments can give a direct access to the collisional spin drag rate, and establish…
Every simple drawing of a graph in the plane naturally induces a rotation system, but it is easy to exhibit a rotation system that does not arise from a simple drawing in the plane. We extend this to all surfaces: for every fixed surface…
We analyze a nonlinear PDE system describing the motion of a microswimmer in a nematic liquid crystal environment. For the microswimmer's motility, the squirmer model is used in which self-propulsion enters the model through the slip…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
In this letter we will study the cosmological dynamical system of an $f(R)$ gravity in the presence of a canonical scalar field $\phi$ with an exponential potential, by constructing the dynamical system in a way that it is render…
A spin model which exhibits glassy dynamics has been proposed by Newman and Moore. This model possesses no randomness for exchange interactions. We propose partial trace methods for obtaining static exact solutions of this model under free…
A small sphere placed on the top of a big static frictionless sphere, slips until it leaves the surface at an angle $\theta_{l}=\cos^{-1}{2/3}$. On the other extreme, if the surface of the big sphere has coefficient of static friction,…
An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model…