Related papers: Flexible Multibody System Linear Modeling for Cont…
This work presents, analyzes and tests stabilized space-time finite element methods on fully unstructured simplicial space-time meshes for the numerical solution of space-time tracking parabolic optimal control problems with the standard…
In this paper, we construct and analyze a multiscale (finite element) method for parabolic problems with heterogeneous dynamic boundary conditions. As origin, we consider a reformulation of the system in order to decouple the discretization…
In this paper, we propose a parallel solver for solving the quasi-static linear poroelasticity coupled with linear elasticity model in the Lagrange multiplier framework. Firstly, we reformulate the model into a coupling of the nearly…
In this work, we address the problem of finite-time stabilization for a class of bilinear system. We propose a decomposition-based approach in which the nominal system is split into two subsystems, one of which is inherently finite-time…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
The output of physical systems is often accessible by measurements such as the 3D position of a robotic arm actuated by many actuators or the speckle patterns formed by shining the spot of a laser pointer on a wall. The selection of the…
Shape-morphing structures possess the ability to change their shapes from one state to another, and therefore, offer great potential for a broad range of applications. A typical paradigm of morphing is transforming from an initial…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…
This paper presents causal block-diagram models to represent the equations of motion of multi-body systems in a very compact and simple closed form. Both the forward dynamics (from the forces and torques imposed at the various…
The aim of this paper is to establish convergence, properties and error bounds for the fully discrete solutions of a class of nonlinear systems of reaction-diffusion nonlocal type with moving boundaries, using the finite element method with…
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…
This study presents the integrated control/structure design of a Large Flexible Structure, the Extra Long Mast Observatory (ELMO). The integrated design is performed using structured $\mathcal{H}_\infty$ control tools, developing the…
We introduce a new Eulerian simulation framework for liquid animation that leverages both finite element and finite volume methods. In contrast to previous methods where the whole simulation domain is discretized either using the finite…
We propose an adaptive polygonal finite element formulation for collapse plastic analysis of solids. The article contributes into four crucial points: 1) Wachspress shape functions at vertex and bubble nodes handled at a primal-mesh level;…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
We propose to combine the ideas of mass redistribution and component mode synthesis. More specifically, we employ the MacNeal method, which readily leads to a singular mass matrix, and an accordingly modified version of the Craig-Bampton…