Related papers: Mathematics of stable tensegrity structures
A classical tensegrity model consists of an embedded graph in a vector space with rigid bars representing edges, and an assignment of a stress to every edge such that at every vertex of the graph the stresses sum up to zero. The tensegrity…
The paper addresses the problem of finding the necessary and sufficient conditions to be satisfied by the engineering moduli of an anisotropic material for the elastic energy to be positive for each state of strain or stress. The problem is…
Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…
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…
Many complex systems satisfy a set of constraints on their degrees of freedom, and at the same time, they are able to work and adapt to different conditions. Here, we describe the emergence of this ability in a simplified model in which the…
Rigidity regulates the integrity and function of many physical and biological systems. This is the first of two papers on the origin of rigidity, wherein we propose that "energetic rigidity," in which all non-trivial deformations raise the…
Truss structures at macro-scale are common in a number of engineering applications and are now being increasingly used at the micro-scale to construct metamaterials. In analyzing the properties of a given truss structure, it is often…
The characterization of the transverse structure of the QCD string is discussed. We formulate a conjecture as to how the stress-energy tensor of the underlying gauge theory couples to the string degrees of freedom. A consequence of the…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
We examine the minimal magnitude of perturbations necessary to change the number $N$ of static equilibrium points of a convex solid $K$. We call the normalized volume of the minimally necessary truncation robustness and we seek shapes with…
Steepness is a geometric property which, together with complex-analyticity, is needed in order to insure stability of a near-integrable hamiltonian system over exponentially long times. Following a strategy developed by Nekhoro-shev, we…
The purpose of this work is to study mortar methods for linear elasticity using standard low order finite element spaces. Based on residual stabilization, we introduce a stabilized mortar method for linear elasticity and compare it to the…
One of the most challenging and basic problems in elastic rod dynamics is a description of rods in contact that prevents any unphysical self-intersections. Most previous works addressed this issue through the introduction of short-range…
We study modular forms of some congruence subgroups. In this paper, we treat the cases level is 2-power, 3-power or 5. Structures of graded rings and many identities of infinite sum or infinite product are given. Theory of rational (1/3,…
We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of…
We study the linear stability of elastic collapsible tubes conveying fluid, when the equilibrium configuration of the tube is helical. A particular case of such tubes, commonly encountered in applications, is represented by quarter- or…
We present a methodology to simulate the mechanics of knots in elastic rods using geometrically nonlinear, full three-dimensional (3D) finite element analysis. We focus on the mechanical behavior of knots in tight configurations, for which…
Increased demands in the field of scientific computation require that algorithms be more efficiently implemented. Maintaining correctness in addition to efficiency is a challenge that software engineers in the field have to face. In this…
In a "structured system" of equations, each equation depends on a specified subset of the variables. In this article, we explore properties common to "almost every" system with a fixed structure and how the properties can be read from the…
There are many dimensions of software complexity. In this article, we explore how structural complexity is measured and used to study and control evolving software systems. We also present the current research challenges and emerging trends…