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We propose a metric to characterize the complex behavior of a dynamical system and to distinguish between organized and disorganized complexity. The approach combines two quantities that separately assess the degree of unpredictability of…
In Stokes flow, Purcell's scallop theorem forbids objects with time-reversible (reciprocal) swimming strokes from moving. In the presence of inertia, this restriction is eased and reciprocally deforming bodies can swim. A number of recent…
In this manuscript we perform an extensive numerical study of the long wave interaction problem with a fixed partially immersed body into a fluid layer. The incident wave is assumed to be an isolated solitary wave. The body in this study is…
The direct-forcing immersed boundary method (DF-IBM) algorithm previously developed by the authors is extended by coupling the Navier-Stokes equations with the Newton-Euler equations for rigid body dynamics within the DF-IBM framework. This…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
The finite reorient-time of swimmers leads to a finite run length $\ell$ and the kinetic accumulation boundary layer on the microscopic length scale $\delta$ on a non-penetrating wall. That boundary layer is the microscopic origin of the…
Within this paper, we introduce and analyze a novel time stepping scheme for linear poroelasticity. In each time frame, we iteratively solve the flow and mechanics equations with an additional damping step for the pressure variable.…
A unifying slipping and sticking frictional impact model for multibody systems in contact with a frictional surface is presented. It is shown that the model can lead to energetic consistency in both slip state and stick state upon imposing…
To gain an understanding of the relation between a given human pose image and the corresponding physical foot pressure of the human subject, we propose and validate two end-to-end deep learning architectures, PressNet and PressNet-Simple,…
In this paper a novel method to solve the constant coefficient wave equation, subject to interface jump conditions, is presented. In general, such problems pose issues for standard finite difference solvers, as the inherent discontinuity in…
We study signatures of physical constraints on free rotations of rigid bodies. We show analytically that the physical or non-physical nature of the moments of inertia of a system can be detected by qualitative changes both in the Montgomery…
With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification. An important class of methods focuses on the inertial…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…
A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled…
Within the supersymmetry scheme, which includes many-body interactions and a perturbation possessing the SO(5) (or SU(5)) symmetry, the rotational bands of the $A\sim 250$ mass region are studied systematically. A novel modification is…
The supporting forces of all the legs have been simultaneously measured through a natural phenomenon inspired shadow method, by capturing water strider leg shadows to calculate the expelled water volume and the equivalent floating forces…
We present a fast, high-throughput method for characterizing the motility of microorganisms in 3D based on standard imaging microscopy. Instead of tracking individual cells, we analyse the spatio-temporal fluctuations of the intensity in…
The physical phenomena are described by physical quantities related by specific physical laws. In the context of a Physical Theory, the physical quantities and the physical laws are described, respectively, by suitable geometrical objects…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
Inertial-based Motion capture system has been attracting growing attention due to its wearability and unsconstrained use. However, accurate human joint estimation demands several complex and expertise demanding steps, which leads to…