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Low energy states of self-gravitating systems with finite angular momentum are considered. A constraint is introduced to confine cores and other condensed objects within the system boundaries by gravity alone. This excludes previously…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
In recent work [Coretti et al., The Journal of Chemical Physics, 2018, 149, 191102], a new algorithm to solve numerically the dynamics of the shell model for polarization was presented. The approach, broadly applicable to systems involving…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
The critical dynamics of superconductors in the charged regime is reconsidered within field-theory. For the dynamics the Ginzburg-Landau model with complex order parameter coupled to the gauge field suggested earlier [Lannert et al. Phys.…
The restricted three-vortex problem is investigated with one of the point vortices fixed in the plane. The motion of the free vortex having zero circulation is explored from a rotating frame of reference within which the free vortex with…
Robust performance of control schemes for open quantum systems is investigated under classical uncertainties in the generators of the dynamics and nonclassical uncertainties due to decoherence and initial state preparation errors. A…
In this paper we examine the stability of scalar perturbations in nonsingular models which emerge from an interacting vacuum component. The analysis developed in this paper relies on two phenomenological choices for the energy exchange…
A deformable body can rotate even with no angular momentum, simply by changing its shape. A good example is a falling cat, how it maneuvers in air to land on its feet. Here a first principles molecular level example of the phenomenon is…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving…
This paper studies various aspects of the motion of relativistic rotators, both in the presence and absence of external fields, using a toy model which, in a sense, can be regarded as a non-relativistic limit of the rotators. In a simpler…
Recently the mechanism was found which allows avoidance of the cosmological singularity within the semi-classical formulation of Loop Quantum Gravity. Numerical studies show that the presence of self-interaction potential of the scalar…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
Simulating many-body quantum systems poses significant challenges due to the large size of the state space. To address this issue, we propose using an SU(2) coherent state for individual spins to simulate spins on a lattice and derive…
An imbalanced rotor is considered. A system of moving balancing masses is given. We determine the optimal movement of the balancing masses to minimize the imbalance on the rotor. The optimal movement is given by an open-loop control solving…
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the loss of the ability to move in certain directions in task…