Related papers: Stacked Tensegrity Mechanism for Medical Applicati…
This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…
Entangled matter displays unusual and attractive properties and mechanisms: tensile strength, capabilities for assembly and disassembly, damage tolerance. While some of the attributes and mechanisms share some traits with traditional…
We introduce tensor numerical techniques for solving optimal control problems constrained by elliptic operators in $\mathbb{R}^d$, $d=2,3$, with variable coefficients, which can be represented in a low rank separable form. We construct a…
While the ultimate goal is to produce a tensegrity more than 6 struts, e.g. a 15-bar tensegrity, past experience has demonstrated that we must first develop an innovative system that will facilitate the assembly of a general n-bar…
Tucker decomposition is the cornerstone of modern machine learning on tensorial data analysis, which have attracted considerable attention for multiway feature extraction, compressive sensing, and tensor completion. The most challenging…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
We investigate the disordered spin-$\frac12$Heisenberg model in two dimensions and employ tree tensor networks (TTNs) with a physics-informed structural optimization of the tree layout, to simulate dynamics in the many-body localization…
This paper presents a novel application of tensegrity systems as lightweight and noninvasive braces for seismically resistant structures. The analyzed braces consist of D-bar systems equipped with shape memory alloy cables with superelastic…
A tensegrity tower design to support a given payload for the moon mining operation is proposed in this paper. A non-linear optimization problem for the minimal-mass structure design is posed and solved, subject to the yielding constraints…
The discrete modeling of a large class of mechanical structures can be based on a stick-and-spring concept. We here present a stick-and-spring theory with potential application to the statics and the dynamics of such nanostructures as…
Tensor regression has attracted significant attention in statistical research. This study tackles the challenge of handling covariates with smooth varying structures. We introduce a novel framework, termed functional tensor regression,…
A tree tensor network variational method is proposed to simulate quantum many-body systems with global symmetries where the optimization is reduced to individual charge configurations. A computational scheme is presented, how to extract the…
This work features the optimization of a Permanent Magnet Synchronous Motor using 2D nonlinear simulations in an Isogeometric Analysis framework. The rotor and stator designs are optimized for both geometric parameters and surface shapes…
The tensor network, as a facterization of tensors, aims at performing the operations that are common for normal tensors, such as addition, contraction and stacking. However, due to its non-unique network structure, only the tensor network…
Low-rank tensors appear to be prosperous in many applications. However, the sets of bounded-rank tensors are non-smooth and non-convex algebraic varieties, rendering the low-rank optimization problems to be challenging. To this end, we…
Functional structures from across the engineered and biological world combine rigid elements such as bones and columns with flexible ones such as cables, fibers and membranes. These structures are known loosely as tensegrities, since these…
This paper presents the equilibrium and stiffness study of clustered tensegrity structures (CTS) considering pulley sizes. We first derive the geometric relationship between clustered strings and pulleys, where the nodal vector is chosen as…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…