Related papers: Quasi-static shape control of soft, morphing struc…

Collective cell motions underlie structure formation during embryonic development. Tissues exhibit emergent multicellular characteristics such as jamming, rigidity transitions, and glassy dynamics, but there remain questions about how those…

We prove that for a wide family of non-uniformly hyperbolic maps and hyperbolic potentials we have equilibrium stability, i.e. the equilibrium states depend continuously on the dynamics and the potential. For this we deduce that the…

Plants are a paradigm for active shape control in response to stimuli. For instance, it is well-known that a tilted plant will eventually straighten vertically, demonstrating the influence of both an external stimulus, gravity, and an…

The term integrable asymptotically conformal at a point for a quasiconformal map defined on a domain is defined. Furthermore, we prove that there is a normal form for this kind attracting or repelling or super-attracting fixed point with…

Controlling real-world networked systems, including ecological, biomedical, and engineered networks that exhibit higher-order interactions, remains challenging due to inherent nonlinearities and large system scales. Despite extensive…

We introduce structural heterogeneity, a new topological characteristic for semi-ordered materials that captures their degree of organisation at a mesoscopic level and tracks their time-evolution, ultimately detecting the order-disorder…

This paper presents a geometric input-output analysis of hidden modes in distance-based formation control. We study the linearized dynamics under a gradient control law to characterize the system's structural limitations and their dynamic…

In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…

Controlling the shapes of surfaces provides a novel way to direct self-assembly of colloidal particles on those surfaces and may be useful for material design. This motivates the investigation of an optimal control problem for surface shape…

Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…

Symmetries represent a fundamental constraint for physical systems and relevant new phenomena often emerge as a consequence of their breaking. An important example is provided by space- and time-translational invariance in statistical…

We present some existence results for three-dimensional quasistatic morphoelasticity. The state of the growing body is described by its deformation and the underlying growth tensor and is ruled by the interplay of hyperelastic energy…

This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…

Using the semigroup approach to abstract boundary control problems we characterize the space of all exactly reachable states. Moreover, we study the situation when the controls of the system are required to be positive. The abstract results…

In this paper, we study stable ergodicity of the action of groups of diffeomorphisms on smooth manifolds. Such actions are known to exist only on one-dimensional manifolds. The aim of this paper is to introduce a geometric method to…

This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…

We consider networks of elastic strings with end masses, where the coupling is modeled via elastic springs. The model is representative of a network of nonlinear strings, where the strings are coupled to elastic bodies. The coupled system…

Many physical systems can be modelled as parameter-dependent variational problems. In numerous cases, multiple equilibria co-exist, requiring the evaluation of their stability, and the monitoring of transitions between them. Generally, the…

For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference…

The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…