相关论文: Optimizing snake locomotion in the plane. I. Compu…
We study the electron motion near magnetic field steps at which the strength and/or sign of the magnetic field changes. The energy spectrum for such systems is found and the electron states (bound and scattered) are compared with their…
We investigate theoretically the ballistic motion of small legged insects and legless larvae after a jump. Notwithstanding their completely different morphologies and jumping strategies, these legged and legless animals have convergently…
We study the variational problem that arises from consideration of large deviations for semimartingale reflected Brownian motion (SRBM) in the positive octant. Due to the difficulty of the general problem, we consider the case in which the…
We perform bifurcation analysis of plane wave solutions in one-dimensional cubic-quintic Ginzburg-Landau equation with delayed feedback. Our study reveals how multistability and snaking behavior of plane waves emerge as time delay is…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
We introduce planar random walk conditioned to avoid its past convex hull, and we show that it escapes at a positive limsup speed. Experimental results show that fluctuations from a limiting direction are on the order of n^(3/4). This…
Microswimmer suspensions self-organize into complex spatio-temporal flow patterns, including vortex lattices and mesoscale turbulence. Here we explore the consequences for the motion of passive tracers, based on a continuum model for the…
We consider a controlled reaction-diffusion equation, motivated by a pest eradication problem. Our goal is to derive a simpler model, describing the controlled evolution of a contaminated set. In this direction, the first part of the paper…
We propose a model of random walks on weighted graphs where the weights are interval valued, and connect it to reversible imprecise Markov chains. While the theory of imprecise Markov chains is now well established, this is a first attempt…
Three-dimensional control is considered in the flow past a backward-facing step (BFS). The BFS flow at Reynolds number $Re=500$ (defined with the step height and the maximum inlet velocity) is two-dimensional and linearly stable but…
Many biological microswimmers locomote by periodically beating the densely-packed cilia on their cell surface in a wave-like fashion. While the swimming mechanisms of ciliated microswimmers have been extensively studied both from the…
The knifefish species propels itself by generating a reverse Karman street from an anal fin and without significantly moving its body. This unique feature makes this species' propulsion method highly efficient (Blake, 1983). It has been…
In this paper we study crawling locomotion based on directional frictional interactions, namely, frictional forces that are sensitive to the sign of the sliding velocity. Surface interactions of this type are common in biology, where they…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
In this paper, we propose a new way to obtain optimal convergence rates for smooth stochastic (strong) convex optimization tasks. Our approach is based on results for optimization tasks where gradients have nonrandom noise. In contrast to…
We study large fluctuations of the area $\mathcal{A}$ under a Brownian excursion $x(t)$ on the time interval $|t|\leq T$, constrained to stay away from a moving wall $x_0(t)$ such that $x_0(-T)=x_0(T)=0$ and $x_0(|t|<T)>0$. We focus on wall…
We consider in this article an Elephant Random Walk evolving in the plane. Specifically, this is a reinforced stochastic process in which the $n$th step is given by a random rotation of one of the previous steps chosen uniformly at random.…
Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granular media (such as sand dunes) that induce failure in…
In this paper, we present some properties of time optimal controls for linear ODEs with the ball-type control constraint. More precisely, for an optimal control, we build up an upper bound for the number of its switching points; show that…