Related papers: "Pull moves" for rectangular lattice polymer model…
In lattice models local pressure on a surface is derived from the change in the free energy of the system due to the exclusion of a certain boundary site, while the total force on the surface can be obtained by a similar exclusion of all…
We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…
Via molecular dynamics simulation with Langevin thermostat we study the structure and dynamics of a flexible bead-spring active polymer model after a quench from good to poor solvent conditions. The self propulsion is introduced via a…
The equations of motion for the rolling and gliding Tippe Top (TT) are nonintegrable and difficult to analyze. The only existing arguments about TT inversion are based on analysis of stability of asymptotic solutions and the LaSalle type…
An elastic rod model for semi-flexible polymers is presented. Theory for a continuum rod is reviewed, and it is shown that a popular discretised model used in numerical simulations gives the correct continuum limit. Correlation functions…
A lattice model is presented for the simulation of dynamics in polymeric systems. Each polymer is represented as a chain of monomers, residing on a sequence of nearest-neighbor sites of a face-centered-cubic lattice. The polymers are self-…
We introduce machine learning methodology to the study of lattice polytopes. With supervised learning techniques, we predict standard properties such as volume, dual volume, reflexivity, etc, with accuracies up to 100%. We focus on 2d…
Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This…
The dynamics of many glassy systems are known to exhibit string-like hopping motions each consisting of a line of particles displacing one and other. By using molecular dynamics simulations of glassy polymers, we show that these motions…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
We analyze reversibility of both displacements and rotations of spherical grains in three-dimensional compression experiments. Using transparent acrylic beads with cylindrical holes and index matching techniques, we are not only capable of…
Incorporating physics in human motion capture to avoid artifacts like floating, foot sliding, and ground penetration is a promising direction. Existing solutions always adopt kinematic results as reference motions, and the physics is…
Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
We report molecular dynamics simulations of a system of repulsive, polymer-tethered colloidal particles. We use an explicit polymer model to explore how the length and the behavior of the polymer (ideal or self-avoiding) affect the ability…
In this paper, we present Robust Model Predictive Control (MPC) problems with adjustable uncertainty sets. In contrast to standard Robust MPC problems with known uncertainty sets, we treat the uncertainty sets in our problems as additional…
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is…
The field of molecular programming allows for the programming of the structure and behavior of matter at the molecular level, even to the point of encoding arbitrary computation. However, current approaches tend to be wasteful in terms of…
A phenomenological model of human posture control is posited. The dynamics are modelled as an elastically pinned polymer under the influence of noise. The model accurately reproduces the two-point correlation functions of experimental…
We consider a probe linearly coupled to the center of mass of a nonequilibrium bath. We study the induced motion on the probe for a model where a resetting mechanism is added to an overdamped bath dynamics with quadratic potentials. The…