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The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
Equivalence of convex optimization, saddle-point problems, and variational inequalities is a well-established concept. The variational inequality (VI) is a static problem which is studied under dynamical settings using a framework called…
We investigate the stabilization of a locally coupled wave equations with only one internal viscoelastic damping of Kelvin-Voigt type. The main novelty in this paper is that both the damping and the coupling coefficients are non smooth.…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This paper extends the mathematical theory of axisymmetrization and vorticity depletion within the two-dimensional (2D) Euler equations, with an emphasis on the dynamics of radially symmetric, monotonic vorticity profiles. By analyzing…
Often the analysis of time-dependent chemical and biophysical systems produces high-dimensional time-series data for which it can be difficult to interpret which individual features are most salient. While recent work from our group and…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
Foam is a canonical example of disordered soft matter where local force balance leads to the competition of many metastable configurations. Here we present an experimental and theoretical framework for "active foam" where an individual…
The dynamic structure factor, vorticity and entropy density dynamic correlation functions are measured for Stochastic Rotation Dynamics (SRD), a particle based algorithm for fluctuating fluids. This allows us to obtain unbiased values for…
Variational wave functions and Green's functions are two important paradigms for solving quantum Hamiltonians, each having their own advantages. Here we detail the Variational Discrete Action Theory (VDAT), which exploits the advantages of…
We develop a multi-port-backscatter-modulation technique to determine, over the air (OTA), the scattering parameters of a linear, passive, time-invariant multi-port device under test (DUT). A set of "not-directly-accessible" (NDA) antennas…
We study the behavior of the trajectories of a second-order differential equation with vanishing damping, governed by the Yosida regularization of a maximally monotone operator with time-varying index, along with a new {\em Regularized…
The Reynolds-averaged Navier-Stokes (RANS) equations provide a computationally efficient method for solving fluid flow problems in engineering applications. However, the use of closure models to represent turbulence effects can reduce their…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
We present a coupled Variational Auto-Encoder (VAE) method that improves the accuracy and robustness of the probabilistic inferences on represented data. The new method models the dependency between input feature vectors (images) and weighs…
We develop a reduced model for the slow unsteady dynamics of an isotropic chemically active particle near the threshold for spontaneous motion. Building on the steady theory developed in part I of this series, we match a weakly nonlinear…
We generalize (linearized) relativistic hydrodynamics by including all order gradient expansion of the energy momentum tensor, parametrized by four momenta-dependend transport coefficients, one of which is the usual shear viscosity. We then…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Accurate estimation of error covariances (both background and observation) is crucial for efficient observation compression approaches in data assimilation of large-scale dynamical problems. We propose a new combination of a covariance…