Linear active disturbancerejection control for a tumbler-reaction wheel system

General fabrication of hollow colloids from polymer self-assembly cavity-forming strategy

“…21 Additionally, as a characteristic hollow architecture, hollow tumblers, which are composed of a hollow shell and an asymmetrical center of gravity, are well known as artificial balance devices, with their earliest history dating back to the Tang Dynasty as the fashionable gyroscope incense burner in the palace. 22,23 The self-stabilization principle of hollow colloids associated with the tumbler structure has been reported, [24][25][26] and is distinct from that of yolk-shell structures. 27 However, it has not been successfully emulated in the micro/nanoscience of synthesis.…”