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Variational methods have been widely used in soft matter physics for both static and dynamic problems. These methods are mostly based on two variational principles: the variational principle of minimum free energy (MFEVP) and Onsager's…
We study, both theoretically and numerically, the equilibrium of a hinged rigid leaflet with an attached rotational spring, immersed in a stationary incompressible fluid within a rigid channel. Through a careful investigation of the…
We report detailed theoretical investigations of the micro-mechanics and bulk elastic properties of composites consisting of randomly distributed stiff fibers embedded in an elastic matrix in two and three dimensions. Recent experiments…
This study presents a framework for estimating the full vibrational state of wind turbine blades from sparse deflection measurements. The identification is performed in a reduced-order space obtained from a Proper Orthogonal Decomposition…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
With the emergence of neural radiance fields (NeRFs), view synthesis quality has reached an unprecedented level. Compared to traditional mesh-based assets, this volumetric representation is more powerful in expressing scene geometry but…
Vision transformers have excelled in various computer vision tasks but mostly rely on rigid input sampling using a fixed-size grid of patches. It limits their applicability in real-world problems, such as active visual exploration, where…
In this paper we consider a mathematical model which describes the equilibrium of two elastic rods attached to a nonlinear spring. We derive the variational formulation of the model which is in the form of an elliptic quasivariational…
This paper extends the mathematical theory of axisymmetrization and vorticity depletion within the two-dimensional (2D) Euler equations, with an emphasis on the dynamics of radially symmetric, monotonic vorticity profiles. By analyzing…
This study utilizes the variational-asymptotic method to establish a one-dimensional theory for functionally graded rods characterized by general anisotropy from the three-dimensional elasticity theory. A distinctive feature of this…
The paper presents a constraint-based collision model for Cosserat rods, able to handle dynamic or static contact between a large number of highly flexible structures. The model provides the required collision impulses prior to updating the…
We propose a new peridynamic formulation with shear deformation for linear elastic solid. The key idea lies in subtracting the rigid body rotation part from the total deformation. Based on the strain energy equivalence between classic local…
Cell-based, mathematical modeling of collective cell behavior has become a prominent tool in developmental biology. Cell-based models represent individual cells as single particles or as sets of interconnected particles, and predict the…
Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space…
Mechanical instabilities can be exploited to design innovative structures, able to change their shape in the presence of external stimuli. In this work, we derive a mathematical model of an elastic beam subjected to an axial force and…
Inferring the drivable area in a scene is crucial for ensuring a vehicle avoids obstacles and facilitates safe autonomous driving. In this paper, we concentrate on detecting the instantaneous free space surrounding the ego vehicle,…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
Folding can transform mundane objects such as napkins into stunning works of art. However, finding new folding transformations for sheet materials is a challenging problem that requires expertise and real-world experimentation. In this…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Interactive real-time rigid body simulation is a crucial tool in any modern game engine or 3D authoring tool. The quest for fast, robust and accurate simulations is ever evolving. PBRBD (Position Based Rigid Body Dynamics), a recent…