Related papers: Flatness-based motion planning for a non-uniform m…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
This paper concerns the experimental validation of some mathematical models previously developed by the authors, to predict the static behaviour of microelectrostatic actuators, basically free-clamped microbeams. This layout is currently…
The present work investigates the fluid-structure interaction (FSI) of a flexible cylindrical cantilever in a tandem configuration. A fully coupled fluid-structure solver based on the three-dimensional incompressible Navier-Stokes equations…
We study theoretically and experimentally how a thin layer of liquid flows along a flexible beam. The flow is modelled using lubrication theory and the substrate is modelled as an elastica which deforms according to the Euler-Bernoulli…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
Drops of active liquid crystal have recently shown the ability to self-propel, which was associated with topological defects in the orientation of active filaments [Sanchez {\em et al.}, Nature {\bf 491}, 431 (2013)]. Here, we study the…
In this paper, we consider an Euler-Bernoulli beam equation with time-varying internal fluid. We assume that the fluid is moving with non-constant velocity and dynamical boundary conditions are satisfied. We prove the existence and…
We propose an accurate and energy-stable parametric finite element method for solving the sharp-interface continuum model of solid-state dewetting in three-dimensional space. The model describes the motion of the film\slash vapor interface…
We consider a generic optomechanical system, consisting of a driven optical cavity and a movable mirror attached to a cantilever. Systems of this kind (and analogues) have been realized in many recent experiments. It is well known that…
In this article, we develop a cut finite element method for one-phase Stefan problems, with applications in laser manufacturing. The geometry of the workpiece is represented implicitly via a level set function. Material above the…
Structural optimization (topology, shapes, sizing) is an important tool for facilitating the emergence of new concepts in structural design. Normally, topology optimization is carried out at the early stage of design and then shape and…
A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or…
This work is devoted to prove the pointwise controllability of the Bernoulli-Euler beam equation. It is obtained as a limit of internal controllability of the same type of equation.
This paper continues the investigations from [7] and is concerned with the derivation of first-order conditions for a control constrained optimization problem governed by a non-smooth elliptic PDE. The control enters the state equation not…
The paper presents an approach to flatness-based control design for hyperbolic multi-input systems, building upon the hyperbolic controller form (HCF). The transformation into HCF yields a simplified system representation that considerably…
In this paper, we present a bilevel optimal motion planning (BOMP) model for autonomous parking. The BOMP model treats motion planning as an optimal control problem, in which the upper level is designed for vehicle nonlinear dynamics, and…
Tichler proved that a manifold admitting a smooth closed one-form fibers over a circle. More generally a manifold admitting $k$ independent closed one-forms fibers over a torus $T^k$. In this article we explain a version of this…
We consider both analytical and numerical studies of a steady-state fracture process inside a discrete mass-beam structure, composed of periodically placed masses connected by Euler-Bernoulli beams. A fault inside the structure is assumed…
Quantum mechanics of bending of a nonrelativistic monoenergetic charged particle beam by a dipole magnet is studied in the paraxial approximation. The transfer map for the position and momentum components of a particle of the beam between…