Related papers: Measuring thrust and predicting trajectory in mode…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Scientific research involves mathematical modelling in the context of an interactive balance between theory, experiment and computation. However, computational methods and tools are still far from being appropriately integrated in the high…
Bond stretching and angle bending force fields, appropriate to describe in-plane motion of graphene sheets, are derived using first principles' methods. The obtained force fields are fitted by analytical anharmonic energy potential…
We explore the pressure of active particles on curved surfaces and its relation to other interfacial properties. We use both direct simulations of the active systems as well as simulations of an equilibrium system with effective (pair)…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
The study of the motion of a rigid body on a plane (RBP motion) is usually one of the most challenging topics that students face in introductory physics courses. In this paper, we discuss a couple of problems which are typically used in…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and generalizes two ideas: a bed of springs (an "elastic…
When very small particles are suspended in a fluid in motion, they tend to follow the flow. How such tracer particles are mixed, transported, and dispersed by turbulent flow has been successfully described by statistical models. Heavy…
This work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of…
Calls to transform introductory college physics courses to include scientific practices require assessments that can measure the extent to which these transformations are effective. Such assessments should be able to measure students'…
Since long back, scientists have been putting enormous effort to understand earthquake dynamics -the goal is to develop a successful prediction scheme which can provide reliable alarm that an earthquake is imminent. Model studies sometimes…
A method for computing electron momentum densities and Compton profiles from ab initio calculations is presented. Reciprocal space is divided into optimally-shaped tetrahedra for interpolation, and the linear tetrahedron method is used to…
An adjoint-based procedure to determine weaknesses, or, more generally the material properties of structures is developed and tested. Given a series of force and deformation/strain measurements, the material properties are obtained by…
A new scalar measure of the gyrotropy of a pressure tensor is defined. Previously suggested measures are shown to be incomplete by means of examples for which they give unphysical results. To demonstrate its usefulness as an indicator of…
A key challenge in complex design problems that permeate science and engineering is the need to balance design objectives for specific design elements or subsystems with global system objectives. Global objectives give rise to competing…
The object of the numerical study is the travel of pendulum waves in a blocky medium under nonstationary impact of deep-seated charge blasting on the surface of the expansion chamber. The blocky model is simulated by a two-dimensional…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
A primary goal of physics is to create mathematical models that allow both predictions and explanations of physical phenomena. We weave maths extensively into our physics instruction beginning in high school, and the level and complexity of…
This activity was created within the framework of the "Space for Education" project, which aims at experiencing physical principles on the basis of topics related to space travel. This work enables the students to understand how a rocket…