相关论文: On Centroidal Dynamics and Integrability of Averag…
Training materials through periodic drive allows to endow materials and structures with complex elastic functions. As a result of the driving, the system explores the high dimensional space of structures, ultimately converging to a…
The aim of the article is to find a transformation that links the local affine velocity of a non-rigid body in the laboratory inertial reference frame $ S $ with the centro-affine velocity of motion of this body in the accompanying…
The aim of this work is to study the geometry underlying mechanics and its application to describe autonomous and nonautonomous conservative dynamical systems of different types; as well as dissipative dynamical systems. We use different…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
Notwithstanding the growing presence of AGVs in the industry, there is a lack of research about multi-wheeled AGVs which offer higher maneuverability and space efficiency. In this paper, we present generalized path continuity conditions as…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
This paper presents a general averaging procedure for a set of observers which are tilted with respect to the cosmological matter fluid. After giving the full set of equations describing the local dynamics, we define the averaging procedure…
We introduce a general framework realizing edge modes in (classical) gauge field theory as dynamical reference frames, an often suggested interpretation that we make entirely explicit. We focus on a bounded region $M$ with a co-dimension…
Finite-thickness interphases between different constituents in heterogeneous materials are often replaced by a zero-thickness interface model. Commonly accepted interface models intuitively assume that the interface layer is situated…
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…
This paper is related to our previous works [1][2] on the error estimate of the averaging technique, for systems with one fast angular variable. In the cited references, a general method (of mixed analytical and numerical type) has been…
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…
A number of recent papers have studied when symmetry causes frameworks on a graph to become infinitesimally flexible, or stressed, and when it has no impact. A number of other recent papers have studied special classes of frameworks on…
Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while…
The relation between uniformly accelerated laboratories and laboratories supported in a gravitational field lies at the conceptual core of the Equivalence Principle, yet its precise kinematical content beyond strictly local considerations…
The meaning and significance of Mach's Principle and its dependence on ideas about relativistic rotating frame theory and the celestial sphere is explained and discussed. Two new relativistic rotation transformations are introduced by using…
The nature of boundedness of orbits of a particle moving in a central force field is investigated. General conditions for circular orbits and their stability are discussed. In a bounded central field orbit, a particle moves clockwise or…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
In this thesis, we consider the suitability of using the charged cold fluid model in the description of ultra-relativistic beams. The method that we have used is the following. Firstly, the necessary notions of kinetic theory and…