Related papers: Soft Tensegrity Systems for Planetary Landing and …
Modelling gravity is a fundamental problem that must be tackled in N-body simulations of stellar systems, and satisfactory solutions require a deep understanding of the dynamical effects of softening. In a previous paper (Romeo 1997), we…
Soft elastic composite materials containing particulate rigid inclusions in a soft elastic matrix are candidates for developing soft actuators or tunable damping devices. The possibility to reversibly drive the rigid inclusions within such…
In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…
In recent years, computer simulators of rigid-body systems have been successfully used to improve and expand the field of developing new space robots, becoming a leading tool for the preliminary investigation and evaluation of space robotic…
We study the effect of a magnetic field on the behaviour of a slender conducting elastic structure, motivated by stability problems of electrodynamic space tethers. Both statical (buckling) and dynamical (whirling) instability are…
We present an approach that is able to both rapidly assess the dynamical stability of multiple planet systems, and determine whether an exoplanet system would be capable of hosting a dynamically stable Earth-mass companion in its habitable…
We introduce a system where an elastic lattice of particles is moved slowly at a constant velocity under the influence of a local external potential, construct a rigid-body model through simplification processes, and show that the two…
Inspired by the Melan equation we propose a model for suspension bridges with two cables linked to a deck, through inextensible hangers. We write the energy of the system and we derive from variational principles two nonlinear and nonlocal…
Tetrahedral configurations of spacecraft on unperturbed heliocentric orbits allow for highly precise observations of small spatial changes in the gravitational field, especially those affecting the gravity gradient tensor (GGT). The…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
Application of performance-based design (PBD) in earthquake geotechnical design codes has been gaining attention for the past decade. Strong vibrations (e.g., earthquake loading) may generate an uplift or a partial separation of shallow…
Tensor clustering has become an important topic, specifically in spatio-temporal modeling, due to its ability to cluster spatial modes (e.g., stations or road segments) and temporal modes (e.g., time of the day or day of the week). Our…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
Multipartite entanglement is one of the crucial resources in quantum information processing tasks such as quantum metrology, quantum computing and quantum communications. It is essential to verify not only the multipartite entanglement, but…
Context. We investigate the effects of including material strength in multi-material planetesimal collisions. Aims. The differences between strengthless material models and including the full elasto-plastic model for solid bodies with…
The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the…
Harnessing the demand-side flexibility in building and mobility sectors can help to better integrate renewable energy into power systems and reduce global CO2 emissions. Enabling this sector coupling can be achieved with advances in energy…
Particle systems admit a variety of tensor product structures (TPSs) depending on the complete system of commuting observables chosen for the analysis. Different notions of entanglement are associated with these different TPSs. Global…
This thesis conducts a systematic review of the applications of Lagrange points within the solar system, utilizing Systems Theory to frame these applications in terms of their interdependencies and potential for integration into broader…
Modern Space Launch Vehicles (SLVs), being slender in shape and due to the use of lightweight materials, are generally flexible in nature. This structural flexibility, when coupled with sensor and actuator dynamics, can adversely affect the…