Related papers: Vibration Reduction by Stiffness Modulation -- a T…
We study the effect of noise on the dynamics of passively mode-locked semiconductor lasers both experimentally and theoretically. A method combining analytical and numerical approaches for estimation of pulse timing jitter is proposed. We…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…
We consider conformation of a chain consisting of beads connected by stiff springs, where the conformation is determined by the bending angles between the consecutive two springs. A conformation is stabilized or destabilized not only by a…
Virtual oscillator control is the latest control technique for grid-forming inverters. Virtual Oscillator based Controllers (VOCs) provide all the steady-state droop functionalities of conventional droop controllers and, in addition, the…
The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics. In current work, we study this…
This study is part of research aiming at increasing the range of dynamic tasks for teleoperated field robotics in order to allow operators to use the full range of human motions without being limited by the dynamics of the robotic…
We consider conformation dynamics of a chain-like three-body bead-spring model, in which three point masses are connected in series by two springs and the conformation is defined by the bending angle between the two springs. Previous…
This paper proposes a novel wide-area control strategy for modulating the active power injections to damp the critical frequency oscillations in power systems, this includes the inter-area oscillations and the transient frequency swing. The…
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…
Mitigation of load fluctuations due to flow unsteadiness is critical in a broad range of applications, including wind/tidal turbines, and aerial/underwater vehicles. While the use of active control systems is an established practice in…
In this paper, a systematic study of the strong metric subregularity property of mappings is carried out by means of a variational tool, called steepest displacement rate. With the aid of this tool, a simple characterization of strong…
Slow dynamic nonlinearity is ubiquitous amongst brittle materials, such as rocks and concrete, with cracked microstructures. A defining feature of the behavior is the logarithmic-in-time recovery of stiffness after a mechanical…
Passive imaging is a new technique which has been proved to be very efficient, for example in seismology: the correlation of the noisy fields, computed from the fields recorded at different points, is strongly related to the Green function…
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…
Temporal modulation unlocks possibilities to dynamically control and modify the response of electromagnetic systems. Employing explicit dependencies of circuit or surface parameters on time enables the engineering of systems with…
A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are…
The aim of this work is two-fold: to design devices for passive electric damping of structural vibrations by distributed piezoelectric transducers and electric networks, and to experimentally validate the effectiveness of such a damping…
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the…