相关论文: Energy-conserving intermittent-contact motion in c…
We study the low-energy collective oscillations of a dilute Bose gas at finite temperature in the collisionless regime. By using a time-dependent mean-field scheme we derive for the dynamics of the condensate and noncondensate components a…
A quasistatic model for a horizontally loaded thin elastic composite at small strains is studied. The composite consists of two adjacent plates whose interface behaves in a cohesive fashion with respect to the slip of the two layers. We…
We investigate a solvable model for energy conserving non-equilibrium steady states. The time-reversal asymmetry of the dynamics leads to the violation of detailed balance and to ergodicity breaking, as manifested by the presence of…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
We study the numerical solution of a Cahn-Hilliard/Allen-Cahn system with strong coupling through state and gradient dependent non-diagonal mobility matrices. A fully discrete approximation scheme in space and time is proposed which…
The Dyson Brownian Motion (DBM) describes the stochastic evolution of $N$ points on the line driven by an applied potential, a Coulombic repulsion and identical, independent Brownian forcing at each point. We use an explicit tamed Euler…
We consider the solid-solid interactions in the two body problem. The relative equilibria have been previously studied analytically and general motions were numerically analyzed using some expansion of the gravitational potential up to the…
A noncolliding diffusion process is a conditional process of $N$ independent one-dimensional diffusion processes such that the particles never collide with each other. This process realizes an interacting particle system with long-ranged…
We study the decoherence of a system of $N$ non-interacting heavy particles (atoms) due to coherent scattering with a background gas. We introduce a framework for computing the induced phase shift and loss of contrast for arbitrary…
The problem of a general, symmetric contact, between elastically similar bodies, and capable of idealisation using half-plane theory, is studied in the presence of interfacial friction. It is subject to a constant set of loads - normal…
Rimless wheels are known as the simplest model for passive dynamic walking. It is known that the passive gait generated only by gravity effect always becomes asymptotically stable and 1-period because a rimless wheel automatically achieves…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
Many biological processes are supported by special molecules, called motor proteins or molecular motors, that transport cellular cargoes along linear protein filaments and can reversibly associate to their tracks. Stimulated by these…
We consider time-invariant nonlinear $n$-dimensional strongly $2$-cooperative systems, that is, systems that map the set of vectors with up to weak sign variation to its interior. Strongly $2$-cooperative systems enjoy a strong…
The prevailing models for advancing dynamic contact angle are under intensive debates, and the fitting performances are far from satisfying in practice. The present study proposes a model based on the recent understanding of the multi-scale…
We explore the mechanics of a terminally loaded buckled elastica under frictionless self-contact. With the aid of two integrals associated with the elastica, we propose a scale-invariant condition necessary for the onset of contact. The…
A collisional model of a confined quasi-two-dimensional granular mixture is considered to analyze homogeneous steady states. The model includes an effective mechanism to transfer the kinetic energy injected by vibration in the vertical…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
Real applications in structural mechanics, where the dynamic behavior is linear, are rare. Usually, structures are made of components assembled together by means of joints whose behavior maybe highly nonlinear. Depending on the amount of…
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…