Related papers: Self-Stabilizing Self-Assembly
The self-gravitating instability of a compressible-inviscid fluid cylinder immersed into a self-gravitating tenuous medium of negligible motion is developed. The stability criterion is derived based on the linear perturbation technique.…
Many challenging tasks in sensor networks, including sensor calibration, ranking of nodes, monitoring, event region detection, collaborative filtering, collaborative signal processing, {\em etc.}, can be formulated as a problem of solving a…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
This paper explores the use of negative (i.e., repulsive) interaction the abstract Tile Assembly Model defined by Winfree. Winfree postulated negative interactions to be physically plausible in his Ph.D. thesis, and Reif, Sahu, and Yin…
This paper introduces an innovative guidance and control method for simultaneously capturing and stabilizing a fast-spinning target satellite, such as a spin-stabilized satellite, using a spinning-base servicing satellite equipped with a…
Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate large inertial effects but pose risks in…
Self-stabilization is a versatile approach to fault-tolerance since it permits a distributed system to recover from any transient fault that arbitrarily corrupts the contents of all memories in the system. Byzantine tolerance is an…
This paper presents a trajectory tracking control strategy that modulates the active power injected by geographically distributed inverter-based resources to support transient stability. Each resource is independently controlled, and its…
When designing a distributed control system, the system designer has a choice in how to connect the different units through communication channels. In practice, noiseless and noisy channels may coexist. Using the standard toy example of…
Realistic multiport interferometers (beamsplitter meshes) are sensitive to component imperfections, and this sensitivity increases with size. Self-configuration techniques can be employed to correct these imperfections, but not all…
We explore asynchronous unison in the presence of systemic transient and permanent Byzantine faults in shared memory. We observe that the problem is not solvable under less than strongly fair scheduler or for system topologies with maximum…
Liquid shells (e.g. double emulsions, vesicles etc.) are susceptible to interfacial instability and rupturing when driven out of mechanical equilibrium. This poses a significant challenge for the design of liquid shell based micro-machines,…
Topological Interlocking assemblies are arrangements of blocks kinematically constrained by a fixed frame, such that all rigid body motions of each block are constrained only by its permanent contact with other blocks and the frame. In the…
In this paper, we investigate the Rayleigh-Taylor instability problem for two compressible, immiscible, inviscid flows rotating with an constant angular velocity, and evolving with a free interface in the presence of a uniform gravitational…
This paper presents a standing support mobility robot "Moby" developed to enhance independence and safety for elderly individuals during daily activities such as toilet transfers. Unlike conventional seated mobility aids, the robot…
Self-stabilization is a versatile approach to fault-tolerance since it permits a distributed system to recover from any transient fault that arbitrarily corrupts the contents of all memories in the system. Byzantine tolerance is an…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Mechanisms of locomotion in microscopic systems are of great interest not only for technological applications, but also for the sake of understanding, and potentially harnessing, processes far from thermal equilibrium. Down-scaling is a…
Spherical tokamaks (STs) have been shown to possess properties desirable for a fusion power plant such as achieving high plasma ? and having increased vertical stability. To understand the confinement properties that might be expected in…
Counter-streaming systems are a canonical model for beam-plasma instabilities, such as the filamentation instability, which is critical in high energy density physics. However, scenarios involving intersecting fast electron beams break the…