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In this paper, we speculate on a possible application of Liquid Crystal Elastomers to the field of soft robotics. In particular, we study a concept for limbless locomotion that is amenable to miniaturisation. For this purpose, we formulate…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Solving large-scale optimization on-the-fly is often a difficult task for real-time computer graphics applications. To tackle this challenge, model reduction is a well-adopted technique. Despite its usefulness, model reduction often…
We propose a new method for generating realistic datasets with distribution shifts using any decoder-based generative model. Our approach systematically creates datasets with varying intensities of distribution shifts, facilitating a…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Real-world applications of computational fluid dynamics often involve the evaluation of quantities of interest for several distinct geometries that define the computational domain or are embedded inside it. For example, design optimization…
We investigate the elastic behavior of two-dimensional crystalline membrane embedded into real space taking into account the presence an arbitrary number of flexural phonon modes $d_c$ (the number of out-of-plane deformation field…
Molecular dynamics simulations indicate that surfaces strongly influence the strain localization behavior of amorphous nanowires in tension. A sample preparation routine that simulates casting was employed to facilitate the relaxation of…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Ever since the discovery of graphene and subsequent explosion of interest in single atom thick materials, studying their mechanical properties has been an active area of research. New length scales often necessitate a rethinking of physical…
We consider the equilibrium shapes of a thin, annular strip cut out in an elastic sheet. When a central fold is formed by creasing beyond the elastic limit, the strip has been observed to buckle out-of-plane. Starting from the theory of…
Efforts to modulate the electronic properties of atomically thin crystalline nanoribbons requires precise control over their morphology. Here, we perform atomistic simulations on freestanding graphene nanoribbons (GNRs) to first identify…
The remarkable advancements in our capacity to synthesise structured light have facilitated the generation of any desired optical landscapes and even controlling the spatial distribution of light propagating through optically complex media…
Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…
Stochastic flexural vibrations of small-scale Bernoulli-Euler beams with external damping are investigated by stress-driven nonlocal mechanics. Damping effects are simulated considering viscous interactions between beam and surrounding…
Interrupted X-ray computed tomography (X-CT) has been the common way to observe the deformation of materials during an experiment. While this approach is effective for quasi-static experiments, it has never been possible to reconstruct a…
Complex dynamical systems are prevalent in various domains, but their analysis and prediction are hindered by their high dimensionality and nonlinearity. Dimensionality reduction techniques can simplify the system dynamics by reducing the…
In this paper we consider developable surfaces which are isometric to planar domains and which are piecewise differentiable, exhibiting folds along curves. The paper revolves around the longstanding problem of existence of the so-called…
Localized deformation patterns are a common motif in morphogenesis and are increasingly finding widespread applications in materials science, for instance as memory devices. Here we describe the emergence of spatially localized deformations…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…