Related papers: Soap-bubble Optimization of Gaits
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…
We describe a lattice Boltzmann algorithm to simulate liquid crystal hydrodynamics in three dimensions. The equations of motion are written in terms of a tensor order parameter. This allows both the isotropic and the nematic phases to be…
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to…
We present a maximum entropy approach to analyze the internal dynamics of a small system in contact with a large bath e.g. a solute-solvent system. For the small solute, the fluctuations around the mean values of observables are not…
The Hamiltonian dynamics of a compressible inviscid fluid is formulated as a gauge theory. The idea of gauge equivalence is exploited to unify the study of apparantly distinct physical problems and solutions of new models can be generated…
Geometry and mechanics have both a relevant role in determining the three-dimensional packing of 8 bubbles displyaed in a foam structure. We assume that the spatial arrangement of bubbles obeys a geometrical principle maximizing the minimum…
We develop a new algorithm for the Brownian dynamics of soft matter systems that evolves time by spatially correlated Monte Carlo moves. The algorithm uses vector wavelets as its basic moves and produces hydrodynamics in the low Reynolds…
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…
We report experimental results on the dynamics of large bubbles in a Hele-Shaw cell subject to various inclination angles with respect to gravity. Low Reynolds number cases are studied by injecting bubbles in an stagnant water/UCON mixture…
Topological techniques are used to study the motions of systems of point vortices in the infinite plane, in singly-periodic arrays, and in doubly-periodic lattices. The reduction of each system using its symmetries is described in detail.…
Mathematical modeling of fluid flow in a porous medium is usually described by a continuity equation and a chosen constitutive law. The latter, depending on the problem at hand, may be a nonlinear relation between the fluid's pressure…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
Recently, the existence of so-called granular bubbles and droplets has been demonstrated experimentally. Granular bubbles and droplets are clusters of particles that respectively rise and sink if submerged in an aerated and vibrated bed of…
We perform experiments with a granular system that consists of a collection of identical hollow spheres (ping-pong balls). Particles rest on a horizontal metallic grid and are confined within a circular region. Fluidization is achieved by…
Bubbles and droplets are ubiquitous in many areas of engineering, including microfluidics where they can serve as microreactors for screening of chemical reactions. They are often formed out of a constriction (a microfluidic channel or a…
A new concept called biased derivative is proposed. It has a potential to better understand and model some aspects of dynamical systems associated with creating bubbles.
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
Consider a simple finite graph and its nodes to represent identical water barrels (containing different amounts of water) on a level plane. Each edge corresponds to a (locked, water-filled) pipe connecting two barrels below the plane. We…
To understand the boiling crisis mechanism, one can take advantage of the slowing down of boiling at high pressures, in the close vicinity of the liquid-vapor critical point of the given fluid. To preserve conventional bubble geometry, such…
A nonperturbative theory is developed, aiming at an exact and efficient evaluation of a general quantum system interacting with arbitrary bath environment at any temperature and in the presence of arbitrary time-dependent external fields.…