Related papers: Control of the flow behind a backward-facing step …
We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…
This work studies the application of a reinforcement-learning-based (RL) flow control strategy to the flow past a cylinder confined between two walls in order to suppress vortex shedding. The control action is blowing and suction of two…
The present study presents a simple but effective method for 3D visualization of the two-phase flow in the micro-tube. An isosceles right-angle prism combined with a mirror located 45^o bevel to the prism is employed to obtain synchronously…
Controlling fluid droplets efficiently in the microscale is of great interest both from a basic science and a technology perspective. We have designed and developed a general-purpose, highly scalable microfluidic control strategy through a…
In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still…
Existing work on scene flow estimation focuses on autonomous driving and mobile robotics, while automated solutions are lacking for motion in nature, such as that exhibited by debris flows. We propose DEFLOW, a model for 3D motion…
Autonomous driving application is developing towards specific scenes. Park scene has features such as low speed, fixed routes, short connection, less complex traffic, and hence is suitable for bringing autonomous driving technology into…
We propose a novel differentiable vortex particle (DVP) method to infer and predict fluid dynamics from a single video. Lying at its core is a particle-based latent space to encapsulate the hidden, Lagrangian vortical evolution underpinning…
Steering large-scale swarms with only limited control updates is often needed due to communication or computational constraints, yet most learning-based approaches do not account for this and instead model instantaneous velocity fields. As…
Designing effective control for complex three-dimensional flow fields proves to be non-trivial. Oftentimes, intuitive control strategies lead to suboptimal control. To navigate the control space, we utilize a linear parabolized stability…
This paper studies the design of feedback controllers to steer a switching linear time-invariant dynamical system towards the solution trajectory of a time-varying convex optimization problem. We propose two types of controllers: (i) a…
This article concerns the problem of computing solutions to state-constrained optimal control problems whose trajectory is affected by a flow field. This general mathematical framework is particularly pertinent to the requirements…
A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…
Using complementary numerical approaches at high resolution, we study the late-time behaviour of an inviscid, incompressible two-dimensional flow on the surface of a sphere. Starting from a random initial vorticity field comprised of a…
We study the application of a recently introduced hierarchical description of traffic flow control by driver-assist vehicles to include lane changing dynamics. Lane-dependent feedback control strategies are implemented at the level of…
Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale…
The decay of a passive scalar in a three-dimensional chaotic flow is studied using high-resolution numerical simulations. The (volume-preserving) flow considered is a three-dimensional extension of the randomised alternating sine flow…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
We present a flow-control technique in traffic-light intersections, aiming at regulating queue lengths to given reference setpoints. The technique is based on multivariable integrators with adaptive gains, computed at each control cycle by…
This paper presents a novel adjoint solver for differentiable fluid simulation based on bidirectional flow maps. Our key observation is that the forward fluid solver and its corresponding backward, adjoint solver share the same flow map as…