Related papers: Lead-Lag-Shaped Interactive Force Estimation by Eq…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
A coarse grained description of a two phase fluid is used to study the steady state configuration of the interface separating the coexisting phases, and the motion of the contact line at which the interface intersects a solid boundary. The…
When we humans look at a video of human-object interaction, we can not only infer what is happening but we can even extract actionable information and imitate those interactions. On the other hand, current recognition or geometric…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
The research on sliding mode control strategy is generally based on the robust approach. The larger parameter space consideration will inevitably sacrifice part of the performance. Recently, the data-driven sliding mode control method…
Exact calculations are performed on the two-dimensional strongly interacting, unpolarized, uniform Fermi gas with a zero-range attractive interaction. Two auxiliary-field approaches are employed which accelerate the sampling of…
The Empirical Mode Decomposition (EMD) provides a tool to characterize time series in terms of its implicit components oscillating at different time-scales. We apply this decomposition to intraday time series of the following three…
When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…
In a one-dimensional elastic medium with finite correlation length and purely relaxational dynamics, we calculate the time dependence of the elastic force F(t) exchanged between two active inclusions that trigger an elastic deformation at…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
Fiber-reinforced pneumatic twisted-and-coiled actuators (FR-PTCAs) offer high power density and compliance but their strong hysteresis and lack of intrinsic proprioception limit effective closed-loop control. This paper presents a…
In the field of numerical integration, methods specially tuned on oscillating functions, are of great practical importance. Such methods are needed in various branches of natural sciences, particularly in physics, since a lot of physical…
Background: The computationally intensive task of real-time rendering can be offloaded to remote cloud systems. However, due to network latency, interactive remote rendering (IRR) introduces the challenge of interaction latency (IL), which…
An immersed interface-lattice Boltzmann method (II-LBM) is developed for modelling fluid-structure systems. The key element of this approach is the determination of the jump conditions that are satisfied by the distribution functions within…
We present an enhanced immersed interface method for simulating incompressible fluid flows in thin gaps between closely spaced immersed boundaries. This regime, common in engineered structures such as including tribological interfaces and…
We have given theoretical expressions for the forces exerted on a quasi-2D flat and smooth solid plate immersed into a liquid pool of a simple liquid. All forces given by the theory, the local forces on the top, the contact line and the…
This paper investigates the use of LiDAR SLAM as a pose feedback for autonomous flight. Cartographer, LOAM and HDL graph SLAM are first introduced on a conceptual level and later tested for this role. They are first compared offline on a…
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are…