Autonomous rigid body attitude synchronization

Control laws to synchronize attitudes in a swarm of fully actuated rigid bodies, in the absence of a common reference attitude or hierarchy in the swarm, are proposed in [Smith, T. R., Hanssmann, H., & Leonard, N.E. (2001). Orientation control of multiple underwater vehicles with symmetry-breaking potentials. In Proc. 40th IEEE conf. decision and control (pp. 4598-4603); Nair, S., Leonard, N. E. (2007). Stable synchronization of rigid body networks. Networks and Heterogeneous Media, 2(4), 595-624]. The present paper studies two separate extensions with the same energy shaping approach: (i) locally synchronizing the rigid bodies' attitudes, but without restricting their final motion and (ii) relaxing the communication topology from undirected, fixed and connected to directed, varying and uniformly connected. The specific strategies that must be developed for these extensions illustrate the limitations of attitude control with reduced information. © 2008 Elsevier Ltd.

Breaking of symmetry in microfluidic propulsion driven by artificial cilia.

In this Brief Report we investigate biomimetic fluid propulsion due to an array of periodically beating artificial cilia. A generic model system is defined in which the effects of inertial fluid forces and the spatial, temporal, and orientational asymmetries of the ciliary motion can be individually controlled. We demonstrate that the so-far unexplored orientational asymmetry plays an important role in generating flow and that the flow increases sharply with Reynolds number and eventually becomes unidirectional. We introduce the concept of configurational symmetry that unifies the spatial, temporal, and orientational symmetries. The breaking of configurational symmetry leads to fluid propulsion in microfluidic channels.

Vortex breaking and cutting in type II superconductors.

In technological superconductors, the Lorentz force on the flux vortices is opposed by inhomogeneous pinning and so the critical current may be controlled by a combination of vortex entanglement, cutting, and cross-joining. To understand the roles of these processes we report measurements of structures in which a weak pinning layer is sandwiched between two strongly pinning leads. Quantitative modeling of the results demonstrates that in such systems the critical current is limited by the deformation of individual vortices and not by subsequent cross-joining processes.