Related papers: A rotational traveling wave based levitation devic…
Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…
The present work aims to study the cavitating turbulent flow of a full-scale marine propeller and explore the physical mechanism underpinning the underwater radiated noise. We employ the standard dynamic large eddy simulation for the…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Assembling lattices from discrete building blocks enables the composition of large, heterogeneous, and easily reconfigurable objects with desirable mass-to-stiffness ratios. This type of building system may also be referred to as a digital…
This work deals with the closed-loop control of streaky structures induced by free-stream turbulence in a zero-pressure gradient, transitional boundary layer, by means of localized sensors and actuators. A linear quadratic gaussian…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
We present LeviCursor, a method for interactively moving a physical, levitating particle in 3D with high agility. The levitating object can move continuously and smoothly in any direction. We optimize the transducer phases for each possible…
This research implements a design for the control of a rotatable stabiliser which, it is proposed, might augment, or fully replace, the conventional control mechanisms for pitch and yaw in certain types of aircraft. The anticipated…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by…
Sound can exert forces on objects of any material and shape. This has made the contactless manipulation of objects by intense ultrasound a fascinating area of research with wide-ranging applications. While much is understood for acoustic…
The physical properties of a periodic distribution of absorbent resonators is used in this work to design a tunable wideband bandstop acoustic filter. Analytical and numerical simulations as well as experimental validations show that the…
Time-variant systems have recently garnered considerable attention due to their unique potentials in manipulating electromagnetic waves. Here, a novel class of topological spacetime crystals is introduced, with a traveling-wave modulation…
We propose a travelling-wave perturbation method to control the spatiotemporal dynamics in a cardiac model. It is numerically demonstrated that the method can successfully suppress the wave instability (alternans in action potential…
Emulsion droplets trapped in an ultrasonic levitator behave in two ways that solid spheres do not: (1) Individual droplets spin rapidly about an axis parallel to the trapping plane, and (2) coaxially spinning droplets form long chains…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…
The interaction of an acoustic plane wave with a pair of plates connected by periodically spaced stiffeners in water is considered. The rib-stiffened structure is called a "flex-layer" because its low frequency response is dominated by…
We present a novel immersed boundary method that implements acoustic perturbation theory to model an acoustically levitated droplet. Instead of resolving sound waves numerically, our hybrid method solves acoustic scattering…