Related papers: An Overconstrained Vertical Darboux Mechanism
Darboux transformations are employed in construction and analysis of Dirac Hamiltonians with pseudoscalar potentials. By this method, we build a four parameter class of reflectionless systems. Their potentials correspond to composition of…
Additional non-isospectral symmetries are formulated for the constrained Kadomtsev-Petviashvili (\cKP) integrable hierarchies. The problem of compatibility of additional symmetries with the underlying constraints is solved explicitly for…
We study how the topological properties of a one-dimensional staggered lattice, loaded into states with orbital angular momentum $l=1$, can be controlled simply by tuning the relative angle between sites. The original system under…
We experimentally investigate the clogging process of granular materials in a two-dimensional hopper, and present a self-consistent physical mechanism of clogging based on preformed dynamic chain structures in the flow. We found that these…
A novel robust mechanism for the generation of "trapping states" is shown to exist in the coupling of a two-level system with an oscillator, which is based on nonlinearities in the laser-induced vibronic coupling. This mechanism is…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
In this paper, we present strategies for designing curvature-bounded trajectories of any desired length between any two given oriented points. The proposed trajectory is constructed by the concatenation of three circular arcs of varying…
Origami morphing, obtained with patches of piecewise smooth isometries separated by straight fold lines, is an exquisite art that has already received considerable attention in the mathematics and mechanics literature. Curved fold lines,…
This paper presents a novel control design for vehicular formations, which is an alternative to the conventional second-order consensus protocol. The design is motivated by the closed-loop system, which we construct as first-order systems…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
Interesting nonsingular parametric oscillators which are Darboux related to the classical harmonic oscillator and have periodic dissipative/gain features are identified through a modified factorization method. The same method is applied to…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
The plane wave solutions of the three-wave resonant interaction in the plane are considered. It is shown that rank-one constraints over the right derivatives of invertible operators on an arbitrary linear space gives solutions of the…
Painleve analysis and the singular manifold method are the tools used in this paper to perform a complete study of an equation in 2+1 dimensions. This procedure has allowed us to obtain the Lax pair, Darboux transformation and tau functions…
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an…
For the supersymmetric KdV equation, a proper Darboux transformation is presented. This Darboux transformation leads to the B\"{a}cklund transformation found early by Liu and Xie \cite{liu2}. The Darboux transformation and the related…
Dynamical systems can be coupled in a manner that is designed to drive the resulting dynamics onto a specified lower dimensional submanifold in the phase space of the combined system. On the submanifold, the variables of the two systems…
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…
We report the theoretical discovery and characterization of higher-order Floquet topological phases dynamically generated in a periodically driven system with mirror symmetries. We demonstrate numerically and analytically that these phases…