Related papers: A Dynamics and Stability Framework for Avian Jumpi…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Many-body and complex systems, both classical and quantum, often exhibit slow, nonlinear relaxation toward stationary states due to the presence of metastable configurations and environmental fluctuations. Nonlinear relaxation in a wide…
In this paper, I prove necessary and sufficient conditions for the existence of Turing instabilities in a general system with three interacting species. Turing instabilities describe situations when a stable steady state of a reaction…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…
Insects control unsteady aerodynamic forces on flapping wings to navigate complex environments. While understanding these forces is vital for biology, physics, and engineering, existing evaluation methods face trade-offs: high-fidelity…
For delayed reaction-diffusion Schnakenberg systems with Neumann boundary conditions, critical conditions for Turing instability are derived, which are necessary and sufficient. And existence conditions for Turing, Hopf and Turing-Hopf…
When an immiscible oil drop is immersed in a stably stratified ethanol-water mixture, the Marangoni flow on the surface of the drop can experience an oscillatory instability, so that the drop undergoes a transition from levitating to…
We examine the stability of the "coast" motion of fish, that is to say, the motion of a neutrally buoyant fish at constant speed in a straight line. The forces and moments acting on the fish body are thus perfectly balanced. The fish motion…
In this paper the planar orbit and attitude dynamics of an uncontrolled spacecraft is studied, taking on-board a deorbiting device. Solar and drag sails with the same shape are considered and separately studied. In both cases, these devices…
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
Animals often exhibit changes in their behavior during migration. Telemetry data provide a way to observe geographic position of animals over time, but not necessarily changes in the dynamics of the movement process. Continuous-time models…
Collective animal movements produce spectacular natural phenomena that arise from simple local interactions among group members. Flocks of homing pigeons, Columba livia, provide a useful model for the study of collective motion and decision…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
We study the first-passage properties of a jump process with constant drift where jump amplitudes and inter-arrival times follow arbitrary light-tailed distributions with smooth densities. Using a mapping to an effective discrete-time…
Bird strikes present a huge risk for aircraft, especially since traditional airport bird surveillance is mainly dependent on inefficient human observation. Computer vision based technology has been proposed to automatically detect birds,…
This paper is concerned with the stability analysis of a lossless Euler-Bernoulli beam that carries a tip payload which is coupled to a nonlinear dynamic feedback system. This setup comprises nonlinear dynamic boundary controllers…
Topological singularities occur in a broad range of physical systems, including collapsing stars and pinching fluid interfaces. They are important for being able to concentrate energy into a small region. Underwater air bubbles in…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…
We say that a random variable is $light$-$tailed$ if moments of order $2+\epsilon$ are finite for some $\epsilon>0$; otherwise, we say that it is $heavy$-$tailed$. We study queueing networks that operate under the Max-Weight scheduling…