Based on a recently developed notion of physical realizability for quantum linear stochastic systems, we formulate a quantum LQG optimal control problem for quantum linear stochastic systems where the controller itself may also be a quantum system and the plant output signal can be fully quantum. This is distinct from previous works on the quantum LQG problem where measurement is performed on t...

We are developing techniques for model-based constructionof software for computationallycontrolled electromechanical systems, such as photocopiers. These systems are examples of real-time, reactive systems — those that react continuously with their environment at a rate controlled by the environment. Execution in a reactive system proceeds in bursts of activity. In each phase, the environment s...

Many genes and molecules that drive tissue patterning during organogenesis and tissue regeneration have been discovered. Yet, we still lack a full understanding of how these chemical cues induce the formation of living tissues with their unique shapes and material properties. Here, we review work based on the convergence of physics, engineering and biology that suggests that mechanical forces g...

here are many contexts, from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to robots, in which it is desired to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system. The system’s actuator must then attempt to reconcile two, potentially conflicting, demands: position control and ac...

Enzymes are deformable molecules: the molecular structure can exist in essentially a continuum of different conformations. These are accessible by applying mechanical stress to the molecule. Mechanics then provides a general molecular mechanism to modulate enzymatic reactions, by applying mechanical stresses which deform the enzyme. There are approximately 10 known different enzymatic reactions...

Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over active implementations. A passive mechanical device can regain some of the versatility of its active counterpart if it incorporates mechanical elements with programmable parameters, e.g. damping coefficients or spring stiffnesses. We wish to characterize the range of accommodation matrices th...

In this note we investigate open-loop control of underactuated mechanical systems and draw connections between averaging and controllability theory. Two sets of results are presented: averaging under high-amplitude high-frequency forcing, and series expansions for the evolution of a forced mechanical system starting at rest.

This dissertation considers the application of recent robust control techniques to parameter-dependent mechanical systems. Particular emphasis is placed on the study of exible dynamic systems that possess lightly-damped, parameter-dependent, resonances at frequencies that are within the bandwidth of the controller. A detailed examination of an example system, highlighting the complexities assoc...

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