Nonlinearity in nanomechanical cantilevers

Euler-Bernoulli beam theory is widely used to successfully predict the linear dynamics of micro- and nanocantilever beams. However, its capacity to characterize the nonlinear dynamics of these devices has not yet been rigorously assessed, despite its use in nanoelectromechanical systems development. In this article, we report the first highly controlled measurements of the nonlinear response of nanomechanical cantilevers using an ultralinear detection system. This is performed for an extensive range of devices to probe the validity of Euler-Bernoulli theory in the nonlinear regime. We find that its predictions deviate strongly from our measurements for the nonlinearity of the fundamental flexural mode, which show a systematic dependence on aspect ratio (length/width) together with random scatter. This contrasts with the second mode, which is always found to be in good agreement with theory. These findings underscore the delicate balance between inertial and geometric nonlinear effects in the fundamental mode, and strongly motivate further work to develop theories beyond the Euler-Bernoulli approximation

On an Irreducible Theory of Complex Systems

In the paper we present results to develop an irreducible theory of complex systems in terms of self-organization processes of prime integer relations. Based on the integers and controlled by arithmetic only the self-organization processes can describe complex systems by information not requiring further explanations. Important properties of the description are revealed. It points to a special type of correlations that do not depend on the distances between parts, local times and physical signals and thus proposes a perspective on quantum entanglement. Through a concept of structural complexity the description also computationally suggests the possibility of a general optimality condition of complex systems. The computational experiments indicate that the performance of a complex system may behave as a concave function of the structural complexity. A connection between the optimality condition and the majorization principle in quantum algorithms is identified. A global symmetry of complex systems belonging to the system as a whole, but not necessarily applying to its embedded parts is presented. As arithmetic fully determines the breaking of the global symmetry, there is no further need to explain why the resulting gauge forces exist the way they do and not even slightly different.Comment: 8 pages, 3 figures, typos are corrected, some changes and additions are mad

Controlled invariance for hamiltonian systems

A notion of controlled invariance is developed which is suited to Hamiltonian control systems. This is done by replacing the controlled invariantdistribution, as used for general nonlinear control systems, by the controlled invariantfunction group. It is shown how Lagrangian or coisotropic controlled invariant function groups can be made invariant by static, respectively dynamic, Hamiltonian feedback. This constitutes a first step in the development of a geometric control theory for Hamiltonian systems that explicitly uses the given structure

Controllability distributions and systems approximations: a geometric approach

Given a nonlinear system we determine a relation at an equilibrium between controllability distributions defined for a nonlinear system and a Taylor series approximation of it. The value of such a relation is appreciated if we recall that the solvability conditions as well as the solutions to some control synthesis problems can be stated in terms of geometric concepts like controlled invariant (controllability) distributions. The relation between these distributions at the equilibrium will help us to decide when the solvability conditions of this kind of problems are equivalent for the nonlinear system and its approximatio

Geometric Scattering in Robotic Telemanipulation

In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line