Related papers: An Overconstrained Vertical Darboux Mechanism
We introduce a method for constructing Darboux (or supersymmetric) pairs of pseudoscalar and scalar Dirac potentials that are associated with exceptional orthogonal polynomials. Properties of the transformed potentials and regularity…
A new approach for obtaining the transformations of solutions of nonlinear ordinary differential equations representable as the compatibility condition of the overdetermined linear systems is proposed. The corresponding transformations of…
In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in…
We analyze an optomechanical system formed by a mechanical mode and the two optical modes of an optomechanical cavity for the realization of a strongly quantum correlated three-mode system. We show that the steady state of the system shows…
In this paper, we study Bertrand surface offsets by considering the dual geodesic trihedron(dual Darboux frame) of the ruled surfaces. We obtain the relationships between the invariants of Bertrand trajectory ruled surfaces. Furthermore, we…
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which…
In this paper we introduce a new technique, based on dual quaternions, for the analysis of closed linkages with revolute joints: the theory of bonds. The bond structure comprises a lot of information on closed revolute chains with a…
We investigate the transport characteristics of a redox system weakly coupled to leads in the Coulomb blockade regime. The redox system comprises a donor and acceptor separated by an insulating bridge in a solution. It is modeled by a…
Almost all research on superintegrable potentials concerns spaces of constant curvature. In this paper we find by exhaustive calculation, all superintegrable potentials in the four Darboux spaces of revolution that have at least two…
We improve on the abstract estimate obtained in Part 1 by assuming that there are constraints imposed by `overlapping momentum loops'. These constraints are active in a two dimensional, weakly coupled fermion gas with a strictly convex…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
We present a Floquet framework for controlling topological features of a one-dimensional optical lattice system with dual-mode resonant driving, in which both the amplitude and phase of the lattice potential are modulated simultaneously. We…
Fast and accurate safety assessment and collision checking are essential for motion planning and control of highly dynamic autonomous robotic systems. Informative, intuitive, and explicit motion trajectory bounds enable explainable and…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
We calculate the heavy quark potential from the magnetic current due to monopoles in four dimensional $U(1)$ lattice gauge theory. The magnetic current is found from link angle configurations using the DeGrand-Toussaint identification…
A Creutz ladder, is a quasi one dimensional system hosting robust topological phases with localized edge modes protected by different symmetries such as inversion, chiral and particle-hole symmetries. Non-trivial topology is observed in a…
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…