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

This study proposes a novel topology optimization method for unsteady fluid flows induced by actively moving rigid bodies. The key idea of the proposed method is to decouple the design and analysis domains by using separate grids. The…

A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…

We propose a version of the non-relativistic quantum mechanics in which the pure states of a quantum system are described as sections of a Hilbert (generally infinitely-dimensional) fibre bundle over the space-time. There evolution is…

This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…

By moving the pivot of a pendulum rapidly up and down one can create a stable position with the pendulum's bob above the pivot rather than below it. This surprising and counterintuitive phenomenon is a widespread feature of driven systems…

We revisit finite-dimensional linear-quadratic optimal control from the viewpoint of differential flatness. If the pair (A, B) is controllable, then the linear control system is flat, and every trajectory can be parametrized by a flat…

In this paper, we propose a horizontal type method of lines numerical scheme for the unsteady Euler-Bernoulli beam equation. The problem is initially reformulated as a first order system of initial value problems and a suitable one-step…

This study proposes the topology optimization method for moving rigid bodies subjected to forces from fluid flow, such as sails and turbines, with an unsteady time-dependent formulation. Unlike existing topology optimization frameworks in…

Beam manipulation is of paramount importance in wave engineering, enabling diverse beam shapes like pencil beams, flat-top beams, and isoflux beams to cater to various application missions. Among the beams, shaping flat-top and isoflux…

The ordering problem in quantum systems with position-dependent mass (PDM) is treated by inclusion of the classically fictitious similarity transformation into the kinetic term. This provides a generation of supersymmetry with the first…

This paper introduces a novel methodology for simulating the dynamics of beams on elastic foundations. Specifically, Euler-Bernoulli and Timoshenko beam models on the Winkler foundation are simulated using a transfer learning approach…

We present an analytical model to investigate the mechanics of 2-dimensional lattices composed of elastic beams of non-uniform cross-section. Our approach is based on reducing a lattice to a single beam subject to the action of a set of…

The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…

In this paper, the bending behaviour of small-scale Bernoulli-Euler beams is investigated by Eringen's two-phase local/nonlocal theory of elasticity. Bending moments are expressed in terms of elastic curvatures by a convex combination of…

Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly challenging when different numerical…

This paper is concerned with a shape optimization problem governed by a non-smooth PDE, i.e., the nonlinearity in the state equation is not necessarily differentiable. We follow the functional variational approach of [40] where the set of…

This paper discusses the possibility of making an object that precisely meets global structural requirements using additive manufacturing and feedback control. An experimental validation is presented by printing a cantilever beam with a…

This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…

Reliable optimal control is challenging when the dynamics of a nonlinear system are unknown and only infrequent, noisy output measurements are available. This work addresses this setting of limited sensing by formulating a Bayesian prior…

In this study, we present a concept of morphing structure -- featuring an arch mounted on a compliant base -- that can be reconfigured via snap-through buckling and leverages bistability to retain its morphed shape. We show that…