Related papers: Vibration control of a rotating cantilever beam us…
Nonlinearities in piezoelectric systems can arise from internal factors such as nonlinear constitutive laws or external factors like realizations of boundary conditions. It can be difficult or even impossible to derive detailed models from…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulomb friction is asymptotically stabilizable via a relay-based…
In the cutting process, machine-tools vibrations are generally a real problem when the amplitude crosses the limits of dimensional or surface quality workpiece precision required. It is necessary to develop models taking into account the…
This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…
We develop and solve a continuum theory for the piezoelectric response of nanotubes under applied uniaxial and torsional stresses. We find that the piezoelectric response is controlled by the chiral angle, the aspect ratio, and two…
We provide analytical results for the perturbative correction to the current-voltage relation through a vibrating molecule for weak electron-phonon coupling. The nonlinear conductance exhibits a step-like feature at $eV=\hbar \omega_0$,…
The tensor-virial method is applied for a study of oscillation modes of uniformly rotating Bose-Einstein condensed gases, whose rigid body rotation is supported by an vortex array. The second order virial equations are derived in the…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
A deep-sea construction vessel is used to install underwater parts of an off-shore oil drilling platform at the designated locations on the seafloor. By using extended Hamilton's principle, a nonlinear PDE system governing the…
Vibrations of structures subjected to concentrated point loads have many applications in mechanical engineering. Experiments are expensive and numerical methods are often used for simulations. In this paper, we consider the plate vibration…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
When a micro cantilever with a nano-scale tip is manipulated on a substrate with atomic-scale roughness, the periodic lateral frictional force and stochastic fluctuations may induce stick-slip motion of the cantilever tip, which greatly…
We consider an immersed elastic body that is actively driven through a structured fluid by a motor or an external force. The behavior of such a system generally cannot be solved analytically, necessitating the use of numerical methods.…
This research article presents stress distribution and fracture analysis of a cantilever beam considering both continuum and lumped distribution of gravity force. Airy stress function is used to derive two-dimensional stress distribution…
In a realistic scenario, the evolution of the rotational dynamics of a celestial or artificial body is subject to dissipative effects. Time-varying non-conservative forces can be due to, for example, a variation of the moments of inertia or…
The actions of cut applied to the elastic system generate relative tool/part displacements, which induce a temperature increasing in the components of the machine tools, its environment, the system-tools-part and generate vibrations. The…
This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances. Two types of controllers are designed and implemented:…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…