Related papers: Learning to self-fold at a bifurcation
Abstract. We present a framework for the kinematics of a material body undergoing anelastic deformation. For such processes, the material structure of the body, as reflected by the geometric structure given to the set of body points,…
Growth-elasticity is a powerful model framework for understanding complex shape development in soft biological tissues. At each instant, by mapping how continuum building blocks have grown geometrically and how they respond elastically to…
We use machine learning methods on local structure to identify flow defects - or regions susceptible to rearrangement - in jammed and glassy systems. We apply this method successfully to two disparate systems: a two dimensional experimental…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
We consider a three-dimensional network of aqueous droplets joined by single lipid bilayers to form a cohesive, tissue-like material. The droplets in these networks can be programmed to have distinct osmolarities so that osmotic gradients…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…
We investigate the deformation of a longitudinally stretched rectangular sheet which is clamped at two opposite boundaries and free otherwise with experiments, numerical analysis and asymptotic analysis of the biharmonic elastic equation…
Self-organization creates new order and shifts sub-boundaries while reorganizing energy and entropy within a control volume. This article examines pathway selection and tests whether maximizing the entropy generation rate can forecast…
Remodelling of biological tissue, due to changes in microstructure, is treated in the continuum mechanical setting. Microstructural change is expressed as an evolution of the reference configuration. This evolution is expressed as a…
To understand how dislocations form ordered structures during the deformation of metals, we perform computer simulation studies of the dynamics and patterning of screw dislocations in two dimensions. The simulation is carried out using an…
Topological defects play a central role in the physics of many materials, including magnets, superconductors and liquid crystals. In active fluids, defects become autonomous particles that spontaneously propel from internal active stresses…
Graphene epoxide, with oxygen atoms lining up on pristine graphene sheets, is investigated theoretically in this Letter. Two distinct phases: metastable clamped and unzipped structures are unveiled in consistence with experiments. In the…
A laterally confined thin elastic sheet lying on a liquid substrate displays regular undulations, called wrinkles, characterized by a spatially extended energy distribution and a well-defined wavelength $\lambda$. As the confinement…
While modern deep networks have demonstrated remarkable versatility, their training dynamics remain poorly understood--often driven more by empirical tweaks than architectural insight. This paper investigates how internal structural choices…
The high mechanical strength and excellent flexibility of 2D materials such as graphene are some of their most important properties [1]. Good flexibility is key for exploiting 2D materials in many emerging technologies, such as wearable…
We simulate a two dimensional model of self-propelled particles confined by a deformable boundary. The particles tend to accumulate near the boundary and the shape of the boundary deforms upon the collisions. We find that there are two…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
A salient feature of topological phases are surface states and many of the widely studied physical properties are directly tied to their existence. Although less explored, a variety of topological phases can however similarly be…
Disordered systems subject to a fluctuating environment can self-organize into a complex history-dependent response, retaining a memory of the driving. In sheared amorphous solids, self-organization is established by the emergence of a…