相关论文: Effect of boundary conditions on a high-performanc…

Kinetically constrained models were originally introduced to capture slow relaxation in glassy systems, where dynamics are hindered by local constraints instead of energy barriers. Their quantum counterparts have recently drawn attention…

I derive the most general quantization condition for energy eigenvalues of two interacting baryons in a finite cubic volume when arbitrary twisted boundary conditions are imposed on their finite-volume wavefunctions. These quantization…

Bikebot manipulation has advantages of the single-track robot mobility and manipulation dexterity. We present a coordinated pose control of mobile manipulation with the stationary bikebot. The challenges of the bikebot manipulation include…

Coordinate descent algorithms are widely used in machine learning and large-scale data analysis due to their strong optimality guarantees and impressive empirical performance in solving non-convex problems. In this work, we introduce Block…

In this note we discuss two aspects of screw dislocations dynamics: their behavior near the boundary and a way to confine them inside the material. In the former case, we obtain analytical results on the estimates of collision times (one…

Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…

This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…

Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…

Non-supersymmetric multi-wall configurations are generically unstable. It is proposed that the stabilization in compact space can be achieved by introducing a winding number into the model. A BPS-like bound is studied for the energy of…

Binary systems host complex orbital dynamics where test particles can occupy stable regions despite strong gravitational perturbations. The sailboat region, discovered in the Pluto-Charon system, allows highly eccentric S-type orbits at…

We derive an exact solution for the steady state of a setup where two $XX$-coupled $N$-qubit spin chains (with possibly non-uniform couplings) are subject to boundary Rabi drives, and common boundary loss generated by a waveguide (either…

Modern applications of celestial mechanics include the study of closely packed systems of exoplanets, circumbinary planetary systems, binary-binary interactions in star clusters, and the dynamics of stars near the galactic centre. While…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

While it is important to design stellarators with high magneto-hydrodynamic (MHD) stability $\beta$-limit, it is also crucial to ensure that good magnetic surfaces exist in a large range of $\beta$ values. As $\beta$ increases,…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Chiral condensed matter systems, such as liquid crystals and magnets, exhibit a host of spatially localized topological structures that emerge from the medium's tendency to twist and its competition with confinement and field coupling…

We design observer-based controllers to stabilise abstract linear boundary control systems on Hilbert spaces. Our main results introduce conditions for exponential, strong, and polynomial stability, and establish external well-posedness of…

Although microbunching-instability (MBI) based synchrotron-radiation facilities do not exist yet, the prominent presence of this space-charge driven instability in the high-brightness accelerator facilities promotes the ongoing worldwide…

We present an optimisation-based approach to ensure robust asymptotic stability stability of a desired set in the state space of nonlinear dynamical systems, while optimising a general control objective. The approach relies on the decrease…

Beam stability is an essential requirement for particle accelerators. Longitudinal coupled-bunch instabilities (CBI) are driven by beam interaction with long-range wakefields induced in the resonant structures with narrow-band impedance.…