Control of the Toycopter using a Flat Approximation
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The most classic approach to the dynamics of an n-dimensional mechanical system constrained by d independent holonomic constraints is to pick explicitly a new set of (n - d) curvilinear coordinatesparametrizingthe manifold of configurations satisfying the ...
In this manuscript we describe the realization of a minimal hybrid microswimmer, composed of a ferromagnetic nanorod and a paramagnetic microsphere. The unbounded pair is propelled in water upon application of a swinging magnetic field that induces a perio ...
Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...
In the context of robotic control, synergies can form an elementary unit of behavior. By specifying task-dependent coordination behaviors at a low control level, one can achieve task-specific disturbance rejection. In this work we present an approach to le ...
The Vlasov-Poisson system is an important nonlinear transport equation, used to describe the evolution of particles under their self-consistent electric or gravitational field. The existence of classical solutions is limited to dimensions d
The present invention relates to an underwater propelling device (10) i a stator (20) comprising circumferential arrayed coils (35) and being adapted to generate a controlled electromagnetic field along an axial direction, a shaftless propellant rotor (30) ...
Delivery drones used by logistics companies today are equipped with unshielded propellers, which represent a major hurdle for in-hand parcel delivery. The exposed propeller blades are hazardous to unsuspecting bystanders, pets, and untrained users. One sol ...
A quantum anomaly is the breaking of symmetry with respect to some transformations after the quantization of a classical Hamiltonian or Lagrangian system. It is shown that both the Noether theorems (including their infinite-dimensional versions) and the ex ...
This paper presents an approach for fixed-order Linear Parameter Varying (LPV) controller design with application to a 2 Degree-of-Freedom (2DOF) gyroscope experimental setup. Inner convex approximation of the non-convex set of all stabilizing fixed-order ...
The Monge problem [23], [27], as reformulated by Kantorovich [19], [20] is that of the transportation, at a minimum "cost", of a given mass distribu- tion from an initial to a final position during a given time interval. It is an optimal transport problem ...