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Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
Model growth from a given checkpoint aims to accelerate training of a larger model, offering potential resource savings. Despite recent interest, warmstarting has seen limited practical adoption in large-scale training. We attribute this to…
Compared with fixed-wing flight, flapping flight can generate a higher lift and is also more maneuverable, largely resulting from the benefits of wing rotation. By analyzing the real wing kinematics of fruit flies, we found that the wing…
Sperm motility is a prerequisite for male fertility. Enhancing the concentration of motile sperms in assisted reproductive technologies - for human and animal reproduction - is typically achieved through aggressive methods such as…
Tail bending associated with maneuvering flight of insects is a known phenomenon although there are only a few studies which analyze and quantify the effects and benefits of body configuration changes. We hypothesized that these…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Turbulence grounds aircraft and combating it in flight requires energy, yet volant wildlife fly effortlessly even on windy days. The nature of the interactions between soaring birds and transient turbulent gusts is not clear, especially…
This paper deals with an impulsive degenerate logistic model, where pulses are introduced for modeling interventions or disturbances, and degenerate logistic term may describe refugees or protections zones for the species. Firstly, the…
Pinching-antenna systems (PASS) have been recently proposed to improve the performance of wireless networks by reconfiguring both the large-scale and small-scale channel conditions. However, existing studies ignore the physical constraints…
The energy gain in laser wakefield accelerators is limited by dephasing between the driving laser pulse and the highly relativistic electrons in its wake. Since this phase depends on both the driver and the cavity length, the effects of…
Active matter is one of the hottest topics in physics nowadays. As a prototype of living systems operating in viscous environments it has usually been modeled in terms of the overdamped dynamics. Recently, active matter in the underdamped…
We show that during normal modes of an oscillatory system consisting of a hoop and a cylinder joining their centers by an ideal spring, its central mass does not remain at rest. This effect is due to the resultant external static friction…
Although there have been many studies of statistical mechanical models of magnetic friction, most of these have focused on the behavior in the steady state. In this study, we prepare a system composed of a chain and a lattice of Ising spins…
Aggregation is a common behavior by which groups of organisms arrange into cohesive groups. Whether suspended in the air (like honey bee clusters), built on the ground (such as army ant bridges), or immersed in water (such as sludge worm…
Acoustic levitation provides a unique method for manipulating small particles as it completely evades effects from gravity, container walls, or physical handling. These advantages make it a tantalizing platform for studying complex…
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…
Collapsing magnetic traps (CMTs) are one proposed mechanism for generating non-thermal particle populations in solar flares. CMTs occur if an initially stretched magnetic field structure relaxes rapidly into a lower-energy configuration,…
The usefulness of persistent excitation is well-known in the control community. Thanks to a persistently excited adaptive tracking control, we show that it is possible to avoid the strong controllability assumption recently proposed in the…
We designed and built a three degrees-of-freedom (DOF) flapping wing robot, Flapperoo, to study the aerodynamic benefits of wing folding and twisting. Forces and moments of this physical model are measured in wind tunnel tests over a…
Large language models deliver strong generative performance but at the cost of massive parameter counts, memory use, and decoding latency. Prior work has shown that pruning and structured sparsity can preserve accuracy under substantial…