Related papers: Hooke and Coulomn Energy of Tripod Spiders
We consider two-dimensional Coulomb gases on the Riemann sphere with determinantal or Pfaffian structures, under external potentials that are invariant under rotations around the axis connecting the north and south poles, and with…
The hopping dynamics of two fermionic species with different effective masses in the one-dimensional Hubbard model driven by an external field is theoretically investigated. A multiple-time-scale asymptotic analysis of the driven asymmetric…
This paper studies the problem of controlling complex networks, that is, the joint problem of selecting a set of control nodes and of designing a control input to steer a network to a target state. For this problem (i) we propose a metric…
Efficient and robust control using spiking neural networks (SNNs) is still an open problem. Whilst behaviour of biological agents is produced through sparse and irregular spiking patterns, which provide both robust and efficient control,…
A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually…
The problem of controlling complex networks is of interest to disciplines ranging from biology to swarm robotics. However, controllability can be too strict a condition, failing to capture a range of desirable behaviors. Herdability, which…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
We consider general aspects of the physics underlying the flight of Gossamer spiders, also known as ballooning spiders. We show that existing observations and the physics of spider silk in the presence of the Earth's static atmospheric…
We experimentally explore solutions to a model Hamiltonian dynamical system derived in Colliander et al., 2012, to study frequency cascades in the cubic defocusing nonlinear Schr\"odinger equation on the torus. Our results include a…
The low-energy physics of (quasi)degenerate one-dimensional systems is typically understood as the particle-like dynamics of kinks between stable, ordered structures. Such dynamics, we show, becomes highly non-trivial when the ground states…
We study perturbation theory for spin foam models on triangulated manifolds. Starting with any model of this sort, we consider an arbitrary perturbation of the vertex amplitudes, and write the evolution operators of the perturbed model as…
We analyse weak and strong controllability notions for the locomotion of the 3-link Purcell's swimmer, the simplest possible swimmer at low Reynolds number from a geometric framework. After revisiting a purely kinematic form of the…
Humanoid robots can suffer significant performance drops under small changes in dynamics, task specifications, or environment setup. We propose HoRD, a two-stage learning framework for robust humanoid control under domain shift. First, we…
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint)…
The Faddeev-Hopf model [1] supporting Hopfions was shown to emerge in the low-energy limit of four-dimensional scalar quantum electrodynamics (QED) with two charged scalar fields [2, 3]. Faddeev and Noemi conjectured that the Hopfions and…
We derive coupled-cluster equations for three-body Hamiltonians. The equations for the one- and two-body cluster amplitudes are presented in a factorized form that leads to an efficient numerical implementation. We employ low-momentum two-…
We consider the equilibrium statistical properties of interfaces submitted to competing interactions; a long-range repulsive Coulomb interaction inherent to the charged interface and a short-range, anisotropic, attractive one due to either…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
Coulomb coupling between proximal layers in graphene heterostructures results in efficient energy transfer between the layers. We predict that, in the presence of correlated density inhomogeneities in the layers, vertical energy transfer…
In this paper we deal with a feedback control design for the action potential of a neuronal membrane in relation with the non-linear dynamics of the Hodgkin-Huxley mathematical model. More exactly, by using an external current as a control…