Related papers: On ideal dynamic climbing ropes
One of the most challenging and basic problems in elastic rod dynamics is a description of rods in contact that prevents any unphysical self-intersections. Most previous works addressed this issue through the introduction of short-range…
Jumping is an efficient locomotion strategy to traverse cluttered, uneven, or unstable environments in nature, yet replicating continuous, autonomous leaping in soft robots remains challenging due to limited energy storage and reliance on…
We consider pessimistic bilevel stochastic programs in which the follower maximizes over a fixed compact convex set a strictly convex quadratic function, whose Hessian depends on the leader's decision. The resulting random variable is…
This paper investigates the \emph{Wiring Diagram Problem} (WDP), a three-dimensional layout design problem arising in industrial applications such as cable harness design and pipeline routing in constrained environments. In these settings,…
We consider the optimal conduction path of the one-dimensional variable-range hopping problem. We describe a hierarchical procedure for constructing the path which is in excellent agreement with numerical results obtained from a percolation…
Many mechanical structures, both engineered and biological, combine heavy rigid elements such as bones and beams with lightweight flexible ones such as cables and membranes. These are referred to as tensegrities, reflecting that cables can…
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the problem of selecting the optimal input matrix for a linear…
Vortex-induced vibrations (VIV) of flexible cables are an example of flow-induced vibrations that can act as energy harvesting systems by converting energy associated with the spontaneous cable motion into electricity. This work…
In most settings, from international pipelines to home water supplies, the drag caused by turbulence raises pumping costs many times higher than if the flow were laminar. Drag reduction has therefore long been an aim of high priority. In…
Optimal transport provides a metric which quantifies the dissimilarity between probability measures. For measures supported in discrete metric spaces, finding the optimal transport distance has cubic time complexity in the size of the…
A neural network works as an associative memory device if it has large storage capacity and the quality of the retrieval is good enough. The learning and attractor abilities of the network both can be measured by the mutual information…
A simple mechanical problem is considered which we believe will help students to familiarize some concepts of mechanics of variable mass systems. Meanwhile they can even learn some thrilling physics of bungee jumping.
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
Designing high-performance electric machines that maintain their efficiency and reliability under uncertain material and operating conditions is crucial for industrial applications. In this paper, we present a novel framework for robust…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned simulation priors to inform…
Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem characteristics for practically motivated settings with…
The considered model will be formulated as related to "the fishing problem" even if the other applications of it are much more obvious. The angler goes fishing. He uses various techniques and he has at most two fishing rods. He buys a…
Limbless crawling is ubiquitous in biology, from cells to organisms. We develop and analyze a model for the dynamics of one-dimensional elastic crawlers, subject to active stress and deformation-dependent friction with the substrate. We…
Taking advantage of the competition between elasticity and capillarity has proven to be an efficient way to design structures by folding, bending, or assembling elastic objects in contact with liquid interfaces. Elastocapillary effects…
In order to elucidate the process underpinning the apparently counterintuitive phenomena observed in the freefall experiments conducted by E. Hamm and J. G\'eminard [Amer. J. Phys. 78, 828 (2010)], we construct a simple dynamical model of a…