相关论文: Effect of boundary conditions on a high-performanc…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
The accurate and efficient simulation of Partial Differential Equations (PDEs) in and around arbitrarily defined geometries is critical for many application domains. Immersed boundary methods (IBMs) alleviate the usually laborious and…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
We study the scattering of scalar waves propagating on the global monopole background. Since the scalar wave operator in this topological defect is not essentially self-adjoint, its solutions are not uniquely determined until a boundary…
Mechanical bound states in the continuum (BICs) present an alternative avenue for developing high-frequency, high-Q mechanical resonators, distinct from the conventional band structure engineering method. While symmetry-protected mechanical…
In this paper, we address the question of stability of protected chiral modes (e.g., helical edge states at the boundary of two-dimensional topological insulators) upon interactions with the external bath. Namely, we study how…
We investigate global bounded solutions of higher regularity to boundary value problems for a general linear nonautonomous first order 1D hyperbolic system in a strip. We establish the existence of such solutions under the assumption of…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
In this paper new innovative fourth order compact schemes for Robin and Neumann boundary conditions have been developed for boundary value problems of elliptic PDEs in two and three dimensions. Different from traditional finite difference…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Boundary conditions strongly affect the results of numerical computations for finite size inhomogeneous or incommensurate structures. We present a method which allows to deal with this problem, both for ground state and for critical…
Flux tube simulations of plasma turbulence in stellarators and tokamaks typically employ coordinates which are aligned with the magnetic field lines. Anisotropic turbulent fluctuations can be represented in such field-aligned coordinates…
We present DiffXPBD, a novel and efficient analytical formulation for the differentiable position-based simulation of compliant constrained dynamics (XPBD). Our proposed method allows computation of gradients of numerous parameters with…
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…
Semiconductor nanowires with strong Rashba spin-orbit coupling are currently on the spotlight of several research fields such as spintronics, topological materials and quantum computation. While most theoretical models assume an infinitely…
New boundary conditions are constructed and tested numerically for a general first-order form of the Einstein evolution system. These conditions prevent constraint violations from entering the computational domain through timelike…
Recent experimental synthesis of two-dimensional (2D) heterostructures opens a door to new opportunities in tailoring the electronic properties for novel 2D devices. Here, we show that a wide range of lateral 2D heterostructures could have…
Optically active defects in solids with accessible spin states are promising candidates for solid state quantum information and sensing applications. To employ these defects as quantum building blocks, coherent manipulation of their spin…