Related papers: Self-Stabilizing Self-Assembly
Terminal sliding mode (TSM) control algorithm and its non-singular refinement have been elaborated for two decades and belong, since then, to a broader class of the finite-time controllers, which are known to be robust against the matched…
Self-assembly of complex and functional materials remains a grand challenge in soft material science. Efficient assembly depends on a delicate balance between thermodynamic and kinetic effects, requiring fine-tuning affinities and…
The Lasso has been widely used as a method for variable selection, valued for its simplicity and empirical performance. However, Lasso's selection stability deteriorates in the presence of correlated predictors. Several approaches have been…
This paper presents robust position control strategies for the novel VSSEA. By employing a constructed state-space model, two control schemes are developed in a unified framework: a state-feedback controller and a sliding mode controller,…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Numerical models for predicting future ice-mass loss of the Antarctic and Greenland ice sheet requires accurately representing their dynamics. Unfortunately, ice-sheet models suffer from a very strict time-step size constraint, which for…
An analysis of instability dynamics in a stochastic magnetic field is presented for the tractable case of the resistive interchange. Externally prescribed static magnetic perturbations convert the eigenmode problem to a stochastic…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Colloidal particles can spontaneously self-assemble into ordered structures, which not only can manipulate the propagation of light, but also vibration or phonons. Using Monte Carlo simulation, we study the self-assembly of perfectly…
The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system…
The paper considers a stabilizing stochastic control which can be applied to a variety of unstable and even chaotic maps. Compared to previous methods introducing control by noise, we relax assumptions on the class of maps, as well as…
[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the…
The 2-Handed Assembly Model (2HAM) is a tile-based self-assembly model in which, typically beginning from single tiles, arbitrarily large aggregations of static tiles combine in pairs to form structures. The Signal-passing Tile Assembly…
Understanding the complex self-assembly of biomacromolecules is a major outstanding question. Microtubules are one example of a biopolymer that possesses characteristics quite distinct from standard synthetic polymers that are derived from…
Fragmentation of a spiral arm is thought to drive the formation of giant clumps in galaxies. Using linear perturbation analysis for self-gravitating spiral arms, we derive an instability parameter and define the conditions for clump…
We ask the question of how small a self-assembling set of tiles can be yet have interesting computational behaviour. We study this question in a model where supporting walls are provided as an input structure for tiles to grow along: we…
In this article we describe a stable partitioned algorithm that overcomes the added mass instability arising in fluid-structure interactions of light rigid bodies and inviscid compressible flow. The new algorithm is stable even for bodies…
Recent observations of hydrostatic structure and virial equilibrium in supersonically turbulent, self-gravitating molecular clouds imply a stability that contrasts with the transcience of turbulent structure. To investigate this…
In this paper we consider the problem of finding stable maxima of expensive (to evaluate) functions. We are motivated by the optimisation of physical and industrial processes where, for some input ranges, small and unavoidable variations in…