相关论文: On robotic manipulators with time-dependent inerti…

This paper introduces a linear state-space model with time-varying dynamics. The time dependency is obtained by forming the state dynamics matrix as a time-varying linear combination of a set of matrices. The time dependency of the weights…

Elasto-plastic models are among the most successful ways to study the critical properties of the plastic yielding transition of amorphous solids. Typically these models are studied under a condition of constant transition rates from one…

Dynamical systems often contain oscillatory forces or depend on periodic potentials. Time or space periodicity is reflected in the properties of these systems through a dependence on the parameters of their periodic terms. In this paper we…

Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…

In this paper we present the time-dependent generalization of an 'ordinary' autonomous human musculo-skeletal biomechanics. We start with the configuration manifold of human body, given as a set of its all active degrees of freedom (DOF).…

The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of…

In this article we are interested in the boundary stabilization in finite time of one-dimensional linear hyperbolic balance laws with coefficients depending on time and space. We extend the so called "backstepping method" by introducing…

A possible way to capture the effects of quantum gravity in spacetime at a mesoscopic scale, for relatively low energies, is through an energy dependent metric, such that particles with different energies probe different spacetimes. In this…

In this paper we study the effect of randomness in kinetic equations that preserve mass. Our focus is in proving the analyticity of the solution with respect to the randomness, which naturally leads to the convergence of numerical methods.…

Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

A kinetic theory of vacuum particle creation under the action of an inertial mechanism is constructed within a nonpertrubative dynamical approach. At the semi-phenomenological level, the inertial mechanism corresponds to quantum field…

The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper…

This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…

We discuss the statistical mechanics of granular matter and derive several significant results. First, we show that, contrary to common belief, the volume and stress ensembles are inter-dependent, necessitating the use of both. We use the…

We define a new parameter `cumulative drag index' for a particle in circular orbit in a stationary, axisymmetric gravitational field and study its behaviour in the two well known solutions of general relativity {\it viz.}, the Kerr…

This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…

We investigate the effect of rotational inertia on the collective phenomena of underdamped active systems and show that the increase of the moment of inertia of each particle favors non-equilibrium phase coexistence, known as motility…

We investigate consequences of allowing the Hilbert space of a quantum system to have a time-dependent metric. For a given possibly nonstationary quantum system, we show that the requirement of having a unitary Schreodinger time-evolution…

This paper analyses the dynamic response of a robot when subject to an external force that is applied to its Center of Mass (CoM). The Ratio of Transmission of Motion (RoToM) is proposed as a novel indicator of what part of the applied…