Related papers: A compact two-phase twisted string actuation syste…
An automated prepreg fabric draping system is being developed which consists of an array of actuated grippers. It has the ability to pick up a fabric ply and place it onto a double-curved mold surface. A previous research effort based on a…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inherent in coordinating a high-dimensional bimanual system. In…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
We explore oscillatory behaviour in a family of periodically driven spin chains which are subject to a weak measurement followed by post-selection. We discover a transition to an oscillatory phase as the strength of the measurement is…
Wounds in epithelial tissues compromise their vital role in homeostasis. A rapid and efficient wound healing encompasses different mechanisms, which includes the formation of a contractile actin-myosin cable around its edge, known as the…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
The selfconsistent cranking approach is extended to the case of rotation about an axis which is tilted with respect to the principal axes of the deformed potential (Tilted Axis Cranking). Expressions for the energies and the intra bands…
Motivated by the operation of myogenic (self-oscillatory) insect flight muscle, we study a model consisting of a large number of identical oscillatory contractile elements joined in a chain, whose end is attached to a damped mass-spring…
Different magnet applications require compact high current cables. Among the proposed solutions, the Twisted Stacked Tape Cable (TSTC) is easy to manufacture and has very high tape length usage efficiency. In this kind of cables the tapes…
Unit maintenance and unit commitment are two critical and interrelated aspects of electric power system operation, both of which face the challenge of coordinating efforts to enhance reliability and economic performance. This challenge…
In this paper, we present a new compact model of threshold switching devices which is suitable for efficient circuit-level simulations. First, a macro model, based on a compact transistor based circuit, was implemented in LTSPICE. Then, a…
The second moment method has always been an effective tool to lower bound the satisfiability threshold of many random constraint satisfaction problems. However, the calculation is usually hard to carry out and as a result, only some loose…
The traction force of a kite can be used to drive a cyclic motion for extracting wind energy from the atmosphere. This paper presents a novel quasi-steady modelling framework for predicting the power generated over a full pumping cycle. The…
Tiny flying insects of body lengths under 2 mm use the `clap-and-fling' mechanism with bristled wings for lift augmentation and drag reduction at chord-based Reynolds number ($Re$) on $\mathcal{O}$(10). We examine wing-wing interaction of…
This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement.…
Introduction of a twist between layers of two-dimensional materials which leads to the formation of a moir\'e pattern is an emerging pathway to tune the electronic, vibrational and optical properties. The fascinating properties of these…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
We propose an algorithm to restrict the switching signals of a constrained switched system in order to guarantee its stability, while at the same time attempting to keep the largest possible set of allowed switching signals. Our work is…
The interplay of twist and strain in bilayer graphene enables the formation of moir\'e patterns and narrow bands that host correlated and topological phases. While magic-angle twisted bilayer graphene has been widely studied, strain…