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Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
A small deformation controlled by four free parameters to the Schwarzschild metric could be referred to a nonspinning black hole solution in alternative theories of gravity. Because such a non-Schwarzschild metric can be changed into a…
We introduce a reverse engineering approach to drive a RC circuit. This technique is implemented experimentally 1) to reach a stationary regime associated to a sinusoidal driving in very short amount of time, 2) to ensure a fast discharge…
A microscopic quantum ideal rotor-model Hamiltonian (distinct from that of Bohr's rotational model) is derived for a rotation about a single axis by applying a dynamic rotation operator to the deformed nuclear ground-state wavefunction. It…
We present a comprehensive account of directed transport in one-dimensional Hamiltonian systems with spatial and temporal periodicity. They can be considered as Hamiltonian ratchets in the sense that ensembles of particles can show directed…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
Hamilton-Jacobi (HJ) reachability is a method that provides rigorous analyses of the safety properties of dynamical systems. This method has been successfully applied to many low-dimensional dynamical system models such as coarse models of…
We study the motion of charged test particles around a Kerr black hole immersed in the asymptotically uniform magnetic field, concluding that off-equatorial stable orbits are allowed in this system. Being interested in dynamical properties…
In this paper we consider cases of existence of invariant measure, additional first integrals, and Poisson structure in a problem of rigid body's rolling without sliding on plane and sphere. The problem of rigid body's motion on plane was…
The relaxation rates to the invariant density in the chaotic phase space component of the kicked rotor (standard map) are calculated analytically for a large stochasticity parameter, $K$. These rates are the logarithms of the poles of the…
This note lays part of the theoretical ground for a definition of differential systems modeling reinforcement learning in continuous time non-Markovian rough environments. Specifically we focus on optimal relaxed control of rough equations…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
In this paper we consider some aspects of the relativistic dynamics of a cylindrical shell of counter rotating particles. In some sense these are the simplest systems with a physically acceptable matter content that display in a well…
A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…
Self-sustained convective dynamos in planetary systems operate in an asymptotic regime of rapid rotation, where a balance is thought to hold between the Coriolis, pressure, buoyancy and Lorentz forces (the MAC balance). Classical numerical…
The main theme of the paper is the dynamics of Hamiltonian diffeomorphisms of ${\mathbb C}{\mathbb P}^n$ with the minimal possible number of periodic points (equal to $n+1$ by Arnold's conjecture), called here Hamiltonian pseudo-rotations.…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…