Related papers: On ideal dynamic climbing ropes
We study optimal double helices with straight axes (or the fattest tubes around them) computationally using three kinds of functionals; ideal ones using ropelength, best volume packing ones, and energy minimizers using two one-parameter…
A shape optimization problem arising from the optimal reinforcement of a membrane by means of one-dimensional stiffeners or from the fastest cooling of a two-dimensional object by means of ``conducting wires'' is considered. The criterion…
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a…
In this paper, we study the relay selection problem in multi-user, multi-hop relay networks with the objective of minimizing the maximum outage probability across all users. When only one user is present, it is well known that the optimal…
This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…
A simple model is proposed for the buckling and coiling instability of a viscous "fluid rope" falling on a plane. By regarding a fluid rope as a one-dimensional flow, this model accounts for only the axial and shared viscous forces. Our…
Snapping mechanisms are investigated for an elastic strip with ends imposed to move and rotate in time. Attacking the problem analytically via Euler's elastica and the second variation of the total potential energy, the number of stable…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
We consider the problem of model selection and estimation in situations where the number of parameters diverges with the sample size. When the dimension is high, an ideal method should have the oracle property [J. Amer. Statist. Assoc. 96…
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured…
We develop a method to solve, theoretically and numerically, general optimal stopping problems. Our general setting allows for multiple exercise rights, i.e., optimal multiple stopping, for a robust evaluation that accounts for model…
A rope laid on the ground with one end subjected to time-dependent forcing is proposed as a prototypical elastic dynamical contact problem, which we study analytically, numerically, and experimentally. The dynamics is governed by an…
This paper presents design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley…
A design problem of finding an optimally stiff membrane structure by selecting one-dimensional fiber reinforcements is formulated and solved. The membrane model is derived in a novel manner from a particular three-dimensional linear elastic…
We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…
It is now known that the equations of motion for the contact point during peeling of an adhesive tape mounted on a roll introduced earlier are singular and do not support dynamical jumps across the two stable branches of the peel force…
We use information theoretic achievable rate formulas for the multi-relay channel to study the problem of optimal placement of relay nodes along the straight line joining a source node and a sink node. The achievable rate formulas that we…
A freely falling chain from a cup at certain height can jump. The process can be divided into two parts: a stable suspension and an accelerating procedure. Variational principle and force analysis demonstrate that the shape of stable…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…