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Anatomical models of a medical robot's environment can significantly help guide design and development of a new robotic system. These models can be used for benchmarking motion planning algorithms, evaluating controllers, optimizing…
In this paper, we present a 2D numerical model developed to simulate the dynamics of soft, deformable particles. To accommodate significant particle deformations, the particle surface is represented as a narrow shell composed of mass points…
Mathematical models of biological populations commonly use discrete structure classes to capture trait variation among individuals (e.g. age, size, phenotype, intracellular state). Upscaling these discrete models into continuum descriptions…
We introduce a discrete mathematical model for the mechanical behaviour of a planar slice of human corneal tissue, in equilibrium under the action of physiological intraocular pressure (IOP). The model considers a regular (two-dimensional)…
The study of organoids, artificially grown cell aggregates with the functionality and small-scale anatomy of real organs, is one of the most active areas of research in biology and biophysics, yet the basic physical origins of their…
This paper describes how to obtain accurate 3D body models and texture of arbitrary people from a single, monocular video in which a person is moving. Based on a parametric body model, we present a robust processing pipeline achieving 3D…
Recently discrete dynamical models of walking droplet dynamics have allowed for fast numerical simulations of their horizontal chaotic motion and consequently the long-time statistical distribution of the droplet position. We develop a…
3D representation and reconstruction of human bodies have been studied for a long time in computer vision. Traditional methods rely mostly on parametric statistical linear models, limiting the space of possible bodies to linear…
We introduce an unsupervised motion-compensated reconstruction scheme for high-resolution free-breathing pulmonary MRI. We model the image frames in the time series as the deformed version of the 3D template image volume. We assume the…
We develop a 3D aerothermodynamic simulator for the Orion reentry capsule at hypersonic speeds, a timely case study given its role in upcoming lunar missions. The large computational meshes required for these scenarios make traditional…
Plug conveying along a horizontal tube has been investigated through simulation, using a discrete element simulation approach for the granulate particles and a pressure field approach for the gas. The result is compared with the simulation…
When interacting in a three dimensional world, humans must estimate 3D structure from visual inputs projected down to two dimensional retinal images. It has been shown that humans use the persistence of object shape over motion-induced…
Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…
We introduce DiffPhy, a differentiable physics-based model for articulated 3d human motion reconstruction from video. Applications of physics-based reasoning in human motion analysis have so far been limited, both by the complexity of…
We numerically study the dynamics of a three-dimensional contractile fluid droplet in the bulk and under confinement. We show that varying activity leads to a variety of shapes and motile regimes whose motion is driven by an interplay…
When a thin sheet is crushed into a small three-dimensional volume, it invariably forms a structure with a low volume fraction but high resistance to further compression. Being a far-from-equilibrium process, forced crumpling is not…
The increasing presence of robots in human environments requires them to exhibit socially appropriate behavior, adhering to social norms. A critical aspect in this context is the concept of personal space, a psychological boundary around an…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
Personalised 3D vascular models are valuable for diagnosis, prognosis and treatment planning in patients with cardiovascular disease. Traditionally, such models have been constructed with explicit representations such as meshes and voxel…
Recent models for discrete euclidean quantum gravity incorporate a sum over simplicial triangulations. We describe an algorithm for simulating such models in general dimensions. As illustration we show results from simulations in four…