Related papers: Control of an Architectural Cable Net Geometry
We propose a mathematical framework for designing robust networks of coupled phase-oscillators by leveraging a vulnerability measure proposed by Tyloo et. al that quantifies how much a small perturbation to a phase-oscillator's natural…
The computation of feedback control using Dynamic Programming equation is a difficult task due the curse of dimensionality. The tree structure algorithm is one the methods introduced recently that mitigate this problem. The method computes…
Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…
We consider the problem of designing learning-based reactive power controllers that perform voltage regulation in distribution grids while ensuring closed-loop system stability. In contrast to existing methods, where the provably stable…
Designing an efficient model within the limited computational cost is challenging. We argue the accuracy of a lightweight model has been further limited by the design convention: a stage-wise configuration of the channel dimensions, which…
Cells sense the geometry and stiffness of their adhesive environment by active contractility. For strong adhesion to flat substrates, two-dimensional contractile network models can be used to understand how force is distributed throughout…
Natural materials often feature a combination of soft and stiff phases, arranged to achieve excellent mechanical properties, such as high strength and toughness. Many natural materials have even independently evolved to have similar…
Wide-band cable models for the prediction of electromagnetic transients in power systems require the accurate calculation of the cable series impedance as function of frequency. A surface current approach was recently proposed for systems…
When transported in confined geometries rigid fibers show interesting transport dynamics induced by friction with the top and bottom walls. Fiber flexibility causes an additional coupling between fiber deformation and transport and is…
This paper presents prototype testing and a control allocation algorithm for the Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) concept aimed at performing momentum management of a solar sail. CABLESSail uses…
In this paper, construction of a neural-network based, closed-loop control of a discontinuous capsule drive is analyzed. The foundation of the designed controller is an optimized open-loop control function. A neural network is used to…
This paper studies the problem of designing networks that are strong structurally controllable, and robust simultaneously. For given network specifications, including the number of nodes $N$, the number of leaders $N_L$, and diameter $D$,…
Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous modeling paradigms, as well as subsystems…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
We introduce the isogeometric shape optimisation of thin shell structures using subdivision surfaces. Both triangular Loop and quadrilateral Catmull-Clark subdivision schemes are considered for geometry modelling and finite element…
Curvature and mechanics are intimately connected for thin materials, and this coupling between geometry and physical properties is readily seen in folded structures from intestinal villi and pollen grains, to wrinkled membranes and…
The Five-hundred-meter Aperture Spherical Radio Telescope (FAST) is supported by a cable-net structure, whose change in form leads to a stress range of approximately 500MPa. This stress range is more than twice the standard authorized…
In this work, we discuss and numerically validate a strategy to attain reversible macroscopic changes in the wave propagation characteristics of cellular metamaterials with soft microstructures. The proposed cellular architecture is…
Numerically predicting the performance of heterogenous structures without scale separation represents a significant challenge to meet the critical requirements on computational scalability and efficiency -- adopting a mesh fine enough to…