相关论文: Flatness-based motion planning for a non-uniform m…

We propose a new discretization method for PDEs on moving domains in the setting of unfitted finite element methods, which is provably higher-order accurate in space and time. In the considered setting, the physical domain that evolves…

Buckling plays a critical role in the transport and dynamics of elastic microfilaments in Stokesian fluids. However, previous work has only considered filaments with homogeneous structural properties. Filament backbone stiffness can be…

Safe, smooth, and optimal motion planning for nonholonomically constrained mobile robots and autonomous vehicles is essential for achieving reliable, seamless, and efficient autonomy in logistics, mobility, and service industries. In many…

Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…

This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…

This study presents the analytical and finite element formulation of a geometrically nonlinear and fractional-order nonlocal model of an Euler-Bernoulli beam. The finite nonlocal strains in the Euler-Bernoulli beam are obtained from a…

This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismatic inverted pendulum model, we formulate a hybrid…

In this paper, a backward Euler method combined with finite element discretization in spatial direction is discussed for the equations of motion arising in the $2D$ Oldroyd model of viscoelastic fluids of order one with the forcing term…

This paper proposes a physics-inspired solution for low altitude Unmanned Aircraft System (UAS) Traffic Management (UTM) in urban areas. We decompose UTM into spatial and temporal planning problems. For the spatial planning problem, we use…

Kinetic energy harvesting with piezoelectric bimorphs has attracted considerable research interest in recent years. Many works have been dedicated to the modelling and optimisation of the cantilevered geometry to increase power density,…

We consider two cantilevered beams undergoing frictional impacts at the free end. The beams are designed to be of similar geometry so that they have distinct but close natural frequencies. Under harmonic base excitation near the primary…

The vibration of various structures such as blades of turbines, helicopters, and all kinds of rotating robot arms can damage the structures and disrupt their performance and balance. Thus, investigation of the reduction and control of…

We provide a rigorous mathematical analysis of a coupled system consisting of a floating platform in a fluid of finite depth, clamped to a flexible Euler-Bernoulli beam. The superstructure supports a rigid tip mass at its free end,…

This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as…

We study four problems in the dynamics of a body moving about a fixed point, providing a non-complex, analytical solution for all of them. For the first two, we will work on the motion first integrals. For the symmetrical heavy body, that…

A lup-like cantilever beam are discussed in this work. For small deflection it can be approximated as a spring-mass system with certain spring constant whose effective mass is larger than the usual constant rectangular cross section…

Stability and stabilization of linear port-Hamiltonian systems on infinite-dimensional spaces are investigated. This class is general enough to include models of beams and waves as well as transport and Schr\"odinger equations with boundary…

We study an optimal control problem governed by elliptic PDEs with interface, which the control acts on the interface. Due to the jump of the coefficient across the interface and the control acting on the interface, the regularity of…

Self-propelled liquid metal-aluminum hybrid machines represent a promising class of autonomous motion systems capable of sustained movement without external power sources. While interactions between machines and their environment inevitably…

Solar arrays are structures which are connected to satellites; during launch, they are in a folded position and submitted to high vibrations. In order to save mass, the flexibility of the panels is not negligible and they may strike each…