Related papers: Compliant Constant Output/ Input Force Mechanisms-…
We study LTLf synthesis with multiple properties, where satisfying all properties may be impossible. Instead of enumerating subsets of properties, we compute in one fixed-point computation the relation between product-game states and the…
We study the persistent homology of both functional data on compact topological spaces and structural data presented as compact metric measure spaces. One of our goals is to define persistent homology so as to capture primarily properties…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Barrier potentials gained popularity as a means for robust contact handling in physical modeling and for modeling self-avoiding shapes. The key to the success of these approaches is adherence to geometric constraints, i.e., avoiding…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
In various cellular processes, biofilaments like F-actin and F-tubulin are able to exploit chemical energy associated to polymerization to perform mechanical work against an external load. The force-velocity relationship quantitatively…
Topological properties of quantum systems are one of the most intriguing emerging phenomena in condensed matter physics. A crucial property of topological systems is the symmetry-protected robustness towards local noise. Experiments have…
The damping of built-up structures stems largely from the microscopic dry frictional interactions in the contact interfaces. The accurate prediction of friction damping has been an important scientific aim of the past several decades.…
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…
Elastic contact in hydrodynamic environments is a complex multiphysics phenomenon and can be found in applications ranging from engineering to biological systems. Understanding the intricacies of this coupled problem requires the…
Modeling contact mechanics with high contrast coefficients presents significant mathematical and computational challenges, especially in achieving strongly symmetric stress approximations for mixed formulations. Due to the inherent…
Kinetic energy harvesting with piezoelectric bimorphs has attracted considerable research interest in recent years. Many works have been dedicated to the modelling and optimisation of the cantilevered geometry to increase power density,…
Atomic force microscopy (AFM) is a powerful tool to investigate interaction forces at the micro and nanoscale. Cantilever stiffness, dimensions and geometry of the tip can be chosen according to the requirements of the specific application,…
We investigate the large-scale structure and temporal evolution of cyclonic and anticyclonic systems in the North Atlantic using persistent homology applied to daily sea-level pressure anomalies from the ERA5 reanalysis (1950-2022). By…
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and constraints have the potential to mitigate these challenges. In…
Topologically interlocked structures are assemblies of interlocking blocks that hold together solely through contact. Such structures have been shown to exhibit high strength, energy dissipation, and crack arrest properties. Recent studies…
We introduce a manifold-based framework for addressing optimization problems with equality and inequality constraints found in robotics. Our approach transforms the original problem into an unconstrained optimization problem directly on the…
This paper presents a density-based topology optimization method for designing three-dimensional (3D) compliant mechanisms and loadbearing structures with design-dependent pressure loading. Instead of interface-tracking techniques, the…
The arrangement of objects into a layout can be challenging for non-experts, as is affirmed by the existence of interior design professionals. Recent research into the automation of this task has yielded methods that can synthesize layouts…
Modular Active Cell Robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and joints are…