Related papers: Single-Input Control of Multiple Fluid-Driven Elas…
Viscous flows within an elastic structure apply stress on the solid-liquid interface. The stress-field created by the viscous flow can be utilized to counter stress created by external forces and thus may be applied as a tool for delaying…
Alternative computing approaches that interface readily with physical systems are well suited for embedded control of those systems. We demonstrate finite state machines implemented as pneumatic circuits of microfluidic valves, and we…
We study the rheology of a suspension of soft deformable droplets subjected to a pressure-driven flow. Through computer simulations, we measure the apparent viscosity as a function of droplet concentration and pressure gradient, and provide…
Long, shallow microchannels embedded in thick soft materials are widely used in microfluidic devices for lab-on-a-chip applications. However, the bulging effect caused by fluid--structure interactions between the internal viscous flow and…
A microfluidic device is constructed from PDMS with a single channel having a short section that is a thin flexible membrane, in order to investigate the complex fluid-structure interaction that arises between a flowing fluid and a…
We study flow driven through a finite-length planar rigid channel by a fixed upstream flux, where a segment of one wall is replaced by a pre-stressed elastic beam subject to uniform external pressure. The steady and unsteady systems are…
This work is devoted to the problem of boundary stabilization of a mixture of two viscous and incompressible fluids in a three dimensional channel-like domain $(x,y,z)\in \mathbb{R}\times (0,1)\times\mathbb{R}$. The model consists of the…
We investigate how symmetry, exact coherent structures (ECSs), and their invariant manifolds organize spontaneous flow reversals in a 2D active nematic confined to a periodic channel. In minimal flow units commensurate with the intrinsic…
We show that we can achieve global density-operator controllability for most N-dimensional bilinear Hamiltonian control systems with general fixed couplings using a single, locally-acting actuator that modulates one energy-level transition.…
We use linear stability analysis and hybrid lattice Boltzmann simulations to study the dynamical behaviour of an active nematic confined in a channel made of viscoelastic material. We find that the quiescent, ordered active nematic is…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
In bistable actuators and other engineered devices, a homogeneous stimulus (e.g. mechanical, chemical, thermal, or magnetic) is often applied to an entire shell to initiate a snap-through instability. In this work, we demonstrate that…
This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…
Fluid-driven elastomeric actuators (FEAs) are among the most popular actuators in the emerging field of soft robotics. Intrinsically compliant, with continuum of motion, large strokes, little friction, and high power-to-weight ratio, they…
This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
A flexible membrane deforming its shape in time can self-propel in a viscous fluid. Alternatively, if the membrane is anchored, its deformation will lead to fluid transport. Past work in this area focused on situations where the deformation…
This letter describes a periodically oscillating microfoam flow. For constant input parameters, both the produced bubble volume and the flow rate vary over a factor two. We explicit the link between foam topology alternance and flow rate…
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…