相关论文: Energy-conserving intermittent-contact motion in c…
A classical long-range-interacting $N$-particle system relaxes to thermal equilibrium on time scales growing with $N$; in the limit $N\to \infty$ such a relaxation time diverges. However, a completely non-collisional relaxation process,…
Non-reciprocal interactions are a generic feature of non-equilibrium systems. We define a non-reciprocal generalization of the kinetic Ising model in one spatial dimension. We solve the model exactly using two different approaches for…
Given the considerable theoretical challenges in understanding strongly coupled metals and non-Fermi liquids, it is valuable to have a framework to understand properties of metals that are universal, in the sense that they must hold in any…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
In this work, we propose a fully discrete energy stable scheme for the phase-field moving contact line model with variable densities and viscosities. The mathematical model consists of a Cahn-Hilliard equation, a Navier-Stokes equation and…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
A new fully kinetic system is proposed for modeling collisionless magnetic reconnection. The formulation relies on fundamental principles in Lagrangian dynamics, in which the inertia of the electron mean flow is neglected in the expression…
A recent time-of-flight (TOF) expansion experiment with polarized fermionic erbium atoms measured a Fermi surface deformation from a sphere to an ellipsoid due to dipole-dipole interaction, thus confirming previous theoretical predictions.…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
The dynamical properties of a particle in a gravitational field colliding with a rigid wall moving with piecewise constant velocity are studied. The linear nature of the wall's motion permits further analytical investigation than is…
This paper presents two novel approaches to solve the classic simple harmonic motion. In one approach, the distance between the equilibrium position and the maximal displacement is divided into N equal segments. In each segment, the mass…
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
This paper presents a framework to perform bifurcation analysis in laboratory experiments or simulations. We employ control-based continuation to study the dynamics of a macroscopic variable of a microscopically defined model, exploring the…
We study the emergence of symmetric oscillatory behavior in multi-agent systems where each agent incorporates a continuous memory of its past states and past rates of change, modeled by distributed retarded and neutral delays. The…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…