相关论文: Rate-independent soft crawlers

Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…

A living cell actively generates traction forces on its environment with its actin cytoskeleton. These forces deform the cell elastic substrate which, in turn, affects the traction forces exerted by the cell and can consequently modify the…

We study the late time relaxation dynamics of a pure $U(1)$ lattice gauge theory in the form of a dimer model on a bilayer geometry. To this end, we first develop a proper notion of hydrodynamic transport in such a system by constructing a…

We studied locomotion of a crawler on a thin Newtonian fluid film whose viscosity varied spatially. We first derived a general locomotion velocity formula with fluid viscosity variations via the lubrication theory. For further analysis, the…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

We present a new method to describe the kinetics of driven lattice gases with particle-particle interactions beyond hard-core exclusions. The method is based on the time-dependent density functional theory for lattice systems and allows one…

The real-time dynamics of local magnetic moments exchange coupled to a metallic system of conduction electrons is subject to dissipative friction even in the absence of spin-orbit coupling. Phenomenologically, this is usually described by a…

Physical systems exhibiting hysteresis are increasingly being used in neuromorphic and in-memory computing research. Generally, the resistance switching of devices with rate-independent hysteresis are being investigated for their use as…

We present a novel simulation-free framework for training continuous-time diffusion processes over very general objective functions. Existing methods typically involve either prescribing the optimal diffusion process -- which only works for…

We consider evolutionary PDE inclusions of the form \[ -\lambda \dot{u}_\lambda + \Delta u - \mathrm{D} W_0(u) + f \ni \partial \mathcal{R}_1(\dot{u}) \qquad\text{in $(0,T) \times \Omega$,} \] where $\mathcal{R}_1$ is a positively…

We study the existence of a global periodic attractor for the reduced dynamics of a discrete toy model for rectilinear crawling locomotion, corresponding to a limit cycle in the shape and velocity variables. The body of the crawler consists…

Time crystals, a phase showing spontaneous breaking of time-translation symmetry, has been an intriguing subject for systems far away from equilibrium. Recent experiments found such a phase both in the presence and absence of localization,…

Using the density matrix formalism, we prove an existence theorem of the periodic steady-state for an arbitrary periodically-driven system. This state has the same period as the modulated external influence, and it is realized as an…

We formulate and study a stochastic model for the thermally-driven motion of interacting straight screw dislocations in a cylindrical domain with a convex polygonal cross-section. Motion is modelled as a Markov jump process, where waiting…

We study the sharp interface limit and well-posedness of a phase field model for self-climb of prismatic dislocation loops in periodic settings. The model is set up in a Cahn-Hilliard/Allen-Cahn framework featured with degenerate…

A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…

In this paper we prove the existence of solutions for a class of viscoelastic dynamic systems on time--dependent cracked domains, with possibly degenerate viscosity coefficients. Under stronger regularity assumptions we also show a…

We introduce a model for translational molecular motors to demonstrate that a multivalent catalytic walker with flexible, uncoordinated legs can transform the free energy of surface-bound substrate sites into mechanical work and undergo…

We perform molecular dynamic (MD) simulations of frictional non-thermal particles driven by an externally applied shear stress. After the system jams following a transient flow, we probe its mechanical response in order to clarify whether…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…