相关论文: Convexity Analysis of Snake Models Based on Hamilt…
We consider quantum systems with energy constraints relative to a reference Hamiltonian. In general, quantum channels and continuous-time dynamics need not satisfy energy conservation. Physically meaningful channels, however, only introduce…
This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…
Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced (typically model-based) techniques for the analysis and…
The classical approach to the study of dynamical systems consists in representing the dynamics of the system in the form of a "source-sink", that means identifying an attractor-repeller pair, which are attractor-repellent sets for all other…
The discretization approximation method commonly used to simulate the dynamics of quantum system coupled to the environment in continuum often suffers from the periodically partial recovery of initial state because of the effect of finite…
A finite difference numerical scheme is proposed and analyzed for the Cahn-Hilliard-Stokes system with Flory-Huggins energy functional. A convex splitting is applied to the chemical potential, which in turns leads to the implicit treatment…
This paper considers continuously differentiable functions of two vector variables that have (possibly a continuum of) min-max saddle points. We study the asymptotic convergence properties of the associated saddle-point dynamics…
A canonical formalism and constraint analysis for discrete systems subject to a variational action principle are devised. The formalism is equivalent to the covariant formulation, encompasses global and local discrete time evolution moves…
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
A Hamiltonian analysis of models given by a three-form field with a generic potential coupled to general relativity in four dimensions is performed. This kind of fields are naturally present in string theory and cosmological scenarios. In…
Fluids subject to both thermal and compositional variations can undergo doubly diffusive convection when these properties both affect the fluid density and diffuse at different rates. A variety of patterns can arise from these…
Animal movement exhibits complex behavior which can be influenced by unobserved environmental conditions. We propose a model which allows for a spatially-varying movement rate and spatially-varying drift through a semiparametric potential…
A local transformation from fermionic operators to spin matrices is proposed and studied in this work. For this purpose, a system of fermions on a lattice is considered and one applies the scheme to replace the fermionic variables with spin…
We investigate the coarsening dynamics in the two-dimensional Hamiltonian XY model on a square lattice, beginning with a random state with a specified potential energy and zero kinetic energy. Coarsening of the system proceeds via an…
This paper investigates the problem of data-driven modeling of port-Hamiltonian systems while preserving their intrinsic Hamiltonian structure and stability properties. We propose a novel neural-network-based port-Hamiltonian modeling…
Many theories of physical interest, which admit a Hamiltonian description, exhibit symmetries under a particular class of non - strictly canonical transformation, known as dynamical similarities. The presence of such symmetries allows a…
This work proposes an adaptive structure-preserving model order reduction method for finite-dimensional parametrized Hamiltonian systems modeling non-dissipative phenomena. To overcome the slowly decaying Kolmogorov width typical of…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Atmospheric systems incorporating thermal dynamics must be stable with respect to both energy and entropy. While energy conservation can be enforced via the preservation of the skew-symmetric structure of the Hamiltonian form of the…