Related papers: Stiffness modeling of non-perfect parallel manipul…
Robustness guarantees are important properties to be looked for during control design. They ensure stability of closed-loop systems in face of uncertainties, unmodeled effects and bounded disturbances. While the theory on robust stability…
We consider a curved chain of nonlinear oscillators and show that the interplay of curvature and nonlinearity leads to a symmetry breaking when an asymmetric stationary state becomes energetically more favorable than a symmetric stationary…
The research paper addresses linear decomposition of time series of non-additive metrics that allows for the identification and interpretation of contributing factors (input features) of variance. Non-additive metrics, such as ratios, are…
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…
The paper investigates localized deformation patterns resulting from the onset of instabilities in lattice structures. The study is motivated by previous observations on discrete hexagonal lattices, where the onset of non-uniform,…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
We consider the failure of localized control in a nonlinear spatially extended system caused by extremely small amounts of noise. It is shown that this failure occurs as a result of a nonlinear instability. Nonlinear instabilities can occur…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the…
Inaccurate circuits make possible the conservation of limited resources, such as energy. But effective design of such circuits requires an understanding of resulting tradeoffs between accuracy and design parameters, such as voltages and…
Recent developments of microscopic mechanical experiments allow the manipulation of individual polymer molecules in two main ways: \textit{uniform} stretching by external forces and \textit{non-uniform} stretching by external fields. Many…
Stochastic geometry provides a powerful framework for modelling complex random structures, with applications in physics, materials science, biology, and other fields. The three-dimensional microstructure of polycrystalline materials is…
This paper presents the work devoted to the study of the operation of a miniaturized membrane Stirling engine. Indeed, such an engine relies on the dynamic coupling of the motion of two membranes to achieve a prime mover Stirling…
The buckling instability of micro- and nanopillars can be an issue when designing intelligent miniaturized devices and characterizing composite materials reinforced with beam-like particles on the small-scale. Analytical modeling of the…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
In this paper, a scalable iterative projection-type algorithm for solving non-stationary systems of linear inequalities is considered. A non-stationary system is understood as a large-scale system of inequalities in which coefficients and…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Recurrent neural networks have been widely used in sequence learning tasks. In previous studies, the performance of the model has always been improved by either wider or deeper structures. However, the former becomes more prone to…
In this paper we aim to apply an adaptation of the recently developed technique of sparse identification of nonlinear dynamical systems on a Duffing experimental setup with cubic feedback of the output. The Duffing oscillator described by…
This study focuses on comparing the individual polymer chain dynamics in an entangled polymeric liquid under different shear and extension rates. Polymer chains under various shear rates and extension rates were simulated using a…