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Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is…
In this paper we study the stabilization problem of a general class of slow-fast systems with one fast and arbitrarily many slow states. Moreover, the class of systems under study is slowly actuated, meaning that only the slow states are…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
We theoretically study the entropy production and the work extracted from a system connected to two reservoirs by periodic modulations of the electrochemical potentials of the reservoirs and the parameter of a system Hamiltonian under…
Based on the properties of large-scale plume currents, an injection/suction control strategy is introduced to enhance the strength of plume currents and the turbulent transport of passive scalar in rotating plane Poiseuille flow. The…
An elastic double pendulum subject to a force acting along a fixed straight line, the so-called "Reut's column problem", is a structure exhibiting flutter and divergence instability, which was never realized in practice and thus debated…
In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates…
Unlike a helicopter, an insect can, in theory, use both lift and drag to stay aloft. Here we show that a dragonfly uses mostly drag to hover by employing asymmetric up and down strokes. Computations of a family of strokes further show that…
If one is given a rigid triangle in the plane or space, we show that the only motion possible, where each vertex of the triangle moves along a straight line, is given by a hypocycloid line drawer in the plane, and a natural extension in…
We consider the systematic force on a heavy probe induced by interaction with an overdamped diffusive medium where particles undergo a rotating force around a fixed center. The stiffness matrix summarizes the stability of the probe around…
We demonstrate the control of vortical motion of neutral classical particles in driven superlattices. Our superlattice consists of a superposition of individual lattices whose potential depths are modulated periodically in time but with…
Crystallography typically studies collections of point particles whose interaction forces are the gradient of a potential. Lifting this assumption generically gives rise in the continuum limit to a form of elasticity with additional moduli…
The very existence of the physical vacuum provides a framework to propose a general mechanism for propelling bodies through an agency of electromagnetic fields, that seat in that medium. When two sub-systems of a general closed device…
The dragging velocity of a model solid lubricant confined between sliding periodic substrates exhibits a phase transition between two regimes, respectively with quantized and with continuous lubricant center-of-mass velocity. The…
We present theoretical results on the deterministic and stochastic motion of a dumbbell carried by a uniform flow through a three-dimensional spatially periodic potential. Depending on parameters like the flow velocity, there are two…
Diffferentially rotating stars can support significantly more mass in equilibrium than nonrotating or uniformly rotating stars, according to general relativity. The remnant of a binary neutron star merger may give rise to such a…
The equations for the sliding of a single block driven by an elastic force show numerically a fast and a slow step in their dynamics when a dimensionless parameter is very large, a limit pertinent for many applications. An asymptotic…
The rolling motion of a rigid cylinder on an inclined flat viscous surface is investigated and the nonlinear resistance force against rolling, $F_R(v)$, is derived. For small velocities $F_R(v)$ increases with velocity due to increasing…