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We present a parallel-scalable method for simulating non-dilute suspensions of deformable particles immersed in Stokesian fluid in three dimensions. A critical component in these simulations is robust and accurate collision handling. This…
Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody…
Derivatives of equations of motion(EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and…
Several methods in nonadiabatic molecular dynamics are based on Madelung's hydrodynamic description of nuclear motion, while the electronic component is treated as a finite-dimensional quantum system. In this context, the quantum potential…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
Mathematical modeling of real-world physical systems requires the consistent combination of a multitude of physical laws and phenomenological models. This challenging task can be greatly simplified by hierarchically decomposing systems into…
Electromechanical models are crucial in the design and control of motors and actuators. Modeling, identification, drive, and current control loop of a limited-rotation actuator with magnetic restoration is presented. New nonlinear and…
This work presents a geometric formulation for transforming nonconservative mechanical Hamiltonian systems and introduces a new method for regularizing and linearizing central force dynamics -- in particular, Kepler and Manev dynamics --…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
We develop a density matrix formalism to describe coupled electron-nuclear dynamics. To this end we introduce an effective Hamiltonian formalism that describes electronic transitions and small (quantum) nuclear fluctuations along a…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
We develop a geometric framework for the numerical integration of mechanical systems evolving on manifolds. After briefly reviewing classical numerical methods and highlighting their limitations and shortcomings in non-flat (non-Euclidean)…
We consider a coupled system composed of a linear differential-algebraic equation (DAE) and a linear large-scale system of ordinary differential equations where the latter stands for the dynamics of numerous identical particles. Replacing…
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependent high relative degree safety constraints on a non-linear…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
A range of phenomena in the subsurface is characterised by the interplay between coupled thermal, hydraulic and mechanical processes and deforming structures such as fractures. Modelling subsurface dynamics can provide valuable…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
We consider the dynamics of an elastic continuum under large deformation but small strain. Such systems can be described by the equations of geometrically nonlinear elastodynamics in combination with the St. Venant-Kirchhoff material law.…
This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot controllers, including closed-box ones. A Gaussian Process (GP),…