Related papers: Principles of lossless adjustable one-ports
We present two linked theorems on passivity: the passive behavior theorem, parts 1 and 2. Part 1 provides necessary and sufficient conditions for a general linear system, described by a set of high order differential equations, to be…
We study the minimal thermodynamically consistent model for an adaptive machine that transfers particles from a higher chemical potential reservoir to a lower one. This model describes essentials of the inhomogeneous catalysis. It is…
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
We present an analytical model to investigate the mechanics of 2-dimensional lattices composed of elastic beams of non-uniform cross-section. Our approach is based on reducing a lattice to a single beam subject to the action of a set of…
The deterministic switching of magnetic order parameters is critically important, as it forms the fundamental basis for manipulating information states in magnetic memory devices. This work presents a general theoretical framework that…
The present work establishes necessary and sufficient conditions for a nonlinear system with two inputs to be described by a specific triangular form. Except for some regularity conditions, such triangular form is flat. This may lead to the…
The emphasis on inertia for system stability has been a long-held tradition in conventional grids. The fast and flexible controllability of inverters opens up new possibilities. This paper investigates the {first-swing stability} of…
An elastic rod, straight in its undeformed state, has a mass attached at one end and a variable length, due to a constraint at the other end by a frictionless sliding sleeve. The constraint is arranged with the sliding direction parallel to…
A leading concept in soft robotics actuation, as well as in microfluidics applications such as valves in lab-on-a-chip devices, is applying pressurized flow in cavities embedded within elastic bodies. Generating complex deformation patterns…
We present a novel, integrated control framework designed to achieve seamless transitions among a spectrum of inverter operation modes. The operation spectrum includes grid-forming (GFM), grid-following (GFL), static synchronous compensator…
Motivated by a real problem in steel production, we introduce and analyze a general class of singularly perturbed linear hybrid systems with both switches and impulses, in which the slow or fast nature of the variables can be…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Circumventing the reciprocity invariance has posed an interesting challenge in the design of modern devices for wave engineering. In passive devices, operating the device in the nonlinear response regime is a common means for realizing…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
A highly deformable rod, modelled as the extensible elastica, is connected to a movable clamp at one end and to a pin sliding along a frictionless curved profile at the other. Bifurcation analysis shows that axial compliance provides a…
Evolution in time-varying environments naturally leads to adaptable biological systems that can easily switch functionalities. Advances in the synthesis of environmentally-responsive materials therefore open up the possibility of creating a…
A coherent perfect absorber is capable of completely absorbing input waves. However, the coherent perfect absorption severely depends on the superposition of the input waves, and the perfect absorption is sensitive to the disorder of the…
An incremental wave superimposed on a pre-deformed hyper-elastic material perceives an elastic media with the instantaneous modulus of the current material. This offers a new route with a broadband feature to control elastic waves by…