Related papers: Compact Variable-Gap Undulator with Hydraulic-Assi…
This paper introduces an extension to the energy map method for in-hand manipulation. Energy maps are used to predict how a part will evolve in the grasp given a specific actuation input to the gripper. Previous approaches assumed…
Valveless pumping assists in fluid transport in various organisms and engineering systems. In a previous work, to study the actuator impact effects on valveless pumping, we constructed a piecewise-linear lumped-parameter model for a…
Higher levels of renewable electricity generation increase uncertainty in power system operation. To ensure secure system operation, new tools that account for this uncertainty are required. In this paper, we formulate a chance-constrained…
This paper presents a methodology of controlling the resonance energy exchange in mechanical system consisting of two weakly coupled magnetic pendulums interacting with the magnetic field generated by coils placed underneath. It is shown…
Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these forces allows improved, precise grading and digging maneuvers.…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
We implement and investigate the numerical properties of a new family of integrators connecting both variants of the symplectic Euler schemes, and including an alternative to the classical symplectic mid-point scheme, with some additional…
We consider two linearly coupled masses, where one mass can have inelastic impacts with a fixed, rigid stop. This leads to the study of a two degree of freedom, piecewise linear, frictionless, unforced, constrained mechanical system. The…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
We report experimental results on the defect turbulent state of undulation chaos in inclined layer convection of a fluid withPrandtl number $\approx 1$. By measuring defect density and undulation wavenumber, we find that the onset of…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
We discuss the static force characteristic of annular gaps resulting from an axial flow component. So far there is a severe lack of understanding of the flow inside the annulus. First, the state-of-the-art modelling approaches to describe…
Examples of fluid flows driven by undulating boundaries are found in nature across many different length scales. Even though different driving mechanisms have evolved in distinct environments, they perform essentially the same function:…
With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…
The advancement of vehicle automation and the growing adoption of electric vehicles (EVs) are reshaping transportation systems. While fully automated vehicles are expected to improve traffic stability, efficiency, and sustainability, recent…
Dielectric laser acceleration (DLA) achieves remarkable gradients from the optical near fields of a grating structure. Tilting the dielectric grating with respect to the electron beam leads to deflection forces and the DLA structure can be…
A dynamical system involving a driven pendulum filled with liquid, is analyzed in the present paper series. The study of such a system is conducted in order to understand energy dissipation resulting from the shallow water sloshing and…
This paper proposes a hydraulic model based on the Euler turbine equations suitable for the purpose of grid integration studies of variable speed hydropower (VSHP). The work was motivated by the need to assess how the dynamic performance…
The article focuses on enhancing the energy efficiency of linear actuators used in heavy earth moving equipment, particularly in the booms ofexcavation equipment. Two hydraulic circuits are compared in terms of energy efficiency, with one…
In this paper, we study the behaviour of a microcantilever beam under electrostatic actuation using finite difference method. This problem has a lot of applications in MEMS based devices like accelerometers, switches and others. In this…