相关论文: "Passive Mechanical Realizations of Bicubic Impeda…

These supplementary notes in the ArXiv are a companion to our paper "Bocher contractions of conformally superintegrable Laplace equations" [arXiv:1512.09315]. They contain background material and the details of the extensive computations…

In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…

By parametrizing input and state trajectories with basis functions different approximations to the constrained linear quadratic regulator problem are obtained. These notes present and discuss technical results that are intended to…

Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters.…

Inverse design of RF passive components from S-parameters is a high-dimensional, ill-posed problem, and prior generative approaches are limited to single-layer binary-metallization structures. This paper presents an inverse design approach…

We propose the design of an impedance matching acoustic bend in this article. The bending structure is composed of sub-wavelength unit cells with perforated plates and side pipes, whose mass density and bulk modulus can be tuned…

Immersed finite element methods generally suffer from conditioning problems when cut elements intersect the physical domain only on a small fraction of their volume. De Prenter et al. [Computer Methods in Applied Mechanics and Engineering,…

The mechanical response of interpenetrating phase composites (IPCs) with stochastic spinodal topologies is investigated experimentally and numerically. Model polymeric systems are fabricated by Polyjet multi-material printing, with the…

Corrigendum : An inverse problem in corrosion detection:stability estimates, J. Inv. Ill-posed Problems 12 (4) (2004), 349-367.

Inspired greatly by Mills et al. (2009) and the solution within, this paper aims to more clearly explain the mathematics and implementation details of such a powerful control algorithm. While the aforementioned paper is well written and of…

The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…

In recent papers [1] and [2], the second author developed full-state feedback controllers for networked systems to block the observability and controllability of certain remote nodes. In this paper, we build on these control schemes to an…

In this paper, for continuous, linearly-controllable quadratic control systems with a single input, an explicit, constructive method is proposed for studying their Brunovsky forms, initially studied in [W. Kang and A. J. Krener, Extended…

In this article, we develop a posteriori error analysis of a nonconforming finite element method for a linear quadratic elliptic distributed optimal control problem with two different set of constraints, namely (i) integral state constraint…

This work addresses minimum-weight design of undamped Euler-Bernoulli frame structures under subresonant single-frequency harmonic excitations, focusing on (robust) dynamic compliance and (robust) peak input power with ellipsoidal load…

A general derivation of the beam coupling impedances produced by small discontinuities on the wall of the vacuum chamber of an accelerator is reviewed. A collection of analytical formulas for the impedances of small obstacles is presented.

Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…

Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…

We investigate the problem of construction of small-size universal Petri nets with inhibitor arcs. We consider four descriptional complexity parameters: the number of places, transitions, inhibitor arcs, and the maximal degree of a…

Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…