Related papers: Pneumatic Computers for Embedded Control of Microf…
We present a collocated-grid framework for Direct Numerical Simulations of polydisperse particles submerged in a viscous fluid. The fluid-particle forces are coupled with the Immersed Boundary Method (IBM) while the particle-particle forces…
Softening and onboarding computers and controllers is one of the final frontiers in soft robotics towards their robustness and intelligence for everyday use. In this regard, embodying soft and physical computing presents exciting potential.…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at…
Embedded systems represent a billionaire market and are present in most of the processors produced in the world.Embedded software interacts with external peripherals such as sensors and actuators through drivers. The strong interaction…
In the search for improved computational capabilities, conventional microelectronic computers are facing various problems arising from the miniaturization and concentration of active electronics devices (1-2). Therefore, researchers have…
Dynamic reconfiguration of charge carriers in confined ion-channels under electrical stimulation produces memory effects, where the internal resistance depends on history of the electric field. Vermiculite nanofluidic devices harness this…
We present a novel framework to explore neural control and design of complex fluidic systems with dynamic solid boundaries. Our system features a fast differentiable Navier-Stokes solver with solid-fluid interface handling, a…
The main aim of this study is to find the best, most rapid, and the most accurate numerical method to find the liquid-gas interface of capillary driven flow during the time in circular Microchannels by using COMSOL Multiphysics software.…
Modern micromanipulation techniques typically involve trapping using electromagnetic, acoustic or flow fields that produce stresses on the trapped particles thereby precluding stress-free manipulations. Here, we show that by employing…
Persistent currents in annular geometries have played an important role in disclosing the quantum phase coherence of superconductors and mesoscopic electronic systems. Ultracold atomic gases in multiply connected traps also exhibit…
Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control…
Enabling additive manufacturing to employ a wide range of novel, functional materials can be a major boost to this technology. However, making such materials printable requires painstaking trial-and-error by an expert operator, as they…
Harnessing complex body dynamics has been a long-standing challenge in robotics. Soft body dynamics is a typical example of high complexity in interacting with the environment. An increasing number of studies have reported that these…
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and candidate sites for optical waveguide sensing into a single…
Simulink is widely used in industrial design processes to model increasingly complex embedded control systems. Thus, their formal analysis is highly desirable. However, this comes with two major challenges: First, Simulink models often…
We describe an approach for modeling fluid concentration profiles in grid-based microfluidic chips for fluid mixing. This approach provides an algorithm that predicts fluid concentrations at the chip outlets. Our algorithm significantly…
Electrical submersible pumps (ESPs) are prevalently utilized as artificial lift systems in the oil and gas industry. These pumps frequently encounter multiphase flows comprising a complex mixture of hydrocarbons, water, and sediments. Such…
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…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…