Related papers: FlexDelta: A flexure-based fully decoupled paralle…
Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
This work reports an extensive study of three-dimensional topological ordered phases that, in one of the directions behave like usual topological order concerning mobility of excitations, but in the perpendicular plane manifest type-II…
In this paper we fill the gap in understanding the non-stationary resonance dynamics of the weakly coupled pendula model, having significant applications in numerous fields of physics such as super- conducting Josephson junctions,…
We present a computational design methodology for topology optimization of multi-material-based flexoelectric composites. The methodology extends our recently proposed design methodology for a single flexoelectric material. We adopt the…
We study a system composed of two parallel totally asymmetric simple exclusion processes with open boundaries, where the particles move in the two lanes in opposite directions and are allowed to jump to the other lane with rates inversely…
We use numerical simulations and linear stability analysis to study the dynamics of an active liquid crystal film on a substrate in the regime where the passive system would be isotropic. Extensile activity builds up local orientational…
In this paper, the stability of longitudinal vibrations for transmission problems of two smart-system designs are studied: (i) a serially-connected Elastic-Piezoelectric-Elastic design with a local damping acting only on the piezoelectric…
Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design…
Dimensionless frequency scaling laws for active separation control on flat-plate wings, using dielectric barrier discharge plasma actuators, were examined on the basis of maximum increases to lift coefficient, and compared with hovering…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
The $\xi$-based spatially adaptive three-field variable phase-field model for quasi-static anti-plane crack propagation is introduced. A dynamically optimized regularization length is integrated to improve computational efficiency and…
Along with the increasing popularity of Deep Learning (DL) techniques, more and more Artificial Intelligence of Things (AIoT) systems are adopting federated learning (FL) to enable privacy-aware collaborative learning among AIoT devices.…
Recent work \cite{arifgroup} introduced Federated Proximal Gradient \textbf{(\texttt{FedProxGrad})} for solving non-convex composite optimization problems in group fair federated learning. However, the original analysis established…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Local time-stepping methods permit to overcome the severe stability constraint on explicit methods caused by local mesh refinement without sacrificing explicitness. In \cite{DiazGrote09}, a leapfrog based explicit local time-stepping…
This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3-PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining…
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…
Constant step-size Stochastic Gradient Descent exhibits two phases: a transient phase during which iterates make fast progress towards the optimum, followed by a stationary phase during which iterates oscillate around the optimal point. In…
Using a coarse-grained bead-spring model for semi-flexible macromolecules forming a polymer brush, structure and dynamics of the polymers is investigated, varying chain stiffness and grafting density. The anchoring condition for the grafted…