Related papers: A robophysical model of spacetime dynamics
We construct a generalized dynamics for particles moving in a symmetric space-time, i.e. a space-time admitting one or more Killing vectors. The generalization implies that the effective mass of particles becomes dynamical. We apply this…
Using a general relativistic exact model for spherical structures in a cosmological background, we have put forward an algorithm to calculate the test particle geodesics within such cosmological structures in order to obtain the velocity…
Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known.…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
We discuss dynamical systems approaches and methods applied to flat Robertson-Walker models in $f(R)$-gravity. We argue that a complete description of the solution space of a model requires a global state space analysis that motivates…
The concept of random dynamical system is a comparatively recent development combining ideas and methods from the well developed areas of probability theory and dynamical systems. Due to our inaccurate knowledge of the particular physical…
After a brief review of the foundations of (pre-metric) electromagnetism, we explore some physical consequences of electrodynamics in curved spacetime. In general, new electromagnetic couplings and related phenomena are induced by the…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
A model is discussed where all operators are constructed from a quantum scalar field whose energy spectrum takes on all real values. The Schr\"odinger picture wave function depends upon space and time coordinates for each particle, as well…
We present a way of understanding the curvature of space-time, the basic philosophy being that the (linear) geometry of any space is determined by the (linear) functionals on the algebra(s) of any fields defined on the space. It is known…
We derive the dynamic equations governing a Regge Teitelboim (RT) brane that represents our universe considering that its degrees of freedom are the embedding functions, evolving in a five dimensional curved spacetime. Within this…
We describe a completely general and fully non-perturbative framework for constructing dynamical reference frames in generally covariant theories, and for understanding the gauge-invariant observables that they yield. Our approach makes use…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
1. Complex systems of moving and interacting objects are ubiquitous in the natural and social sciences. Predicting their behavior often requires models that mimic these systems with sufficient accuracy, while accounting for their inherent…
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…
Locomotion by shape changes (spermatozoon swimming, snake slithering, bird flapping) or gas expulsion (rocket firing) is assumed to require environmental interaction, due to conservation of momentum. As first noted in (Wisdom, 2003) and…
Concept of curvature of liquid surrounding a spherical surface seems obvious in daily life, but based on earthly conditions everywhere. However, our understanding about the concept seems more transparent when we keep the system out of the…
Various lattice gas automata have been proposed in the past decades to simulate physics and address a host of problems on collective dynamics arising in diverse fields. In this work, we employ the lattice gas model defined on the sphere to…
Characterizing forces on deformable objects intruding into sand and soil requires understanding the solid and fluid-like responses of such substrates and their effect on the state of the object. The most detailed studies of intrusion in dry…