Related papers: Using a Catenary Trajectory to Reduce Wellbore Fri…
This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and…
Periodic and symmetric two-dimensional textures with various cross-sectional profiles have been employed to improve and optimize the physical response of the surfaces such as drag force, superhydrophobicity, and adhesion. While the effect…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
In this paper, the notion of the catenary curve in the sphere and in the hyperbolic plane is introduced. In both spaces, a catenary is defined as the shape of a hanging chain when its potential energy is determined by the distance to a…
The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…
With the fast development of AI-related techniques, the applications of trajectory prediction are no longer limited to easier scenes and trajectories. More and more trajectories with different forms, such as coordinates, bounding boxes, and…
We propose a higher-order dimensionality reduction framework based on the Trace Ratio (TR) optimization problem. We establish conditions for existence and uniqueness of solutions and clarify the theoretical connection between the Trace…
In this paper, we propose an extended plane wave framework to make the electronic structure calculations of the twisted bilayer 2D material systems practically feasible. Based on the foundation in [Y. Zhou, H. Chen, A. Zhou, J. Comput.…
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…
This paper describes the design study of a gantry for a carbon beam. The designed gantry is compact such that its size is comparable to the size of the proton gantry. This is possible by introducing superconducting double helical coils for…
Space missions that use low-thrust propulsion technology are becoming increasingly popular since they utilize propellant more efficiently and thus reduce mission costs. However, optimizing continuous-thrust trajectories is complex,…
This paper introduces the trajectory divergence rate, a scalar field which locally gives the instantaneous attraction or repulsion of adjacent trajectories. This scalar field may be used to find highly attracting or repelling invariant…
An extension to the interface finite element with eMbedded Profile for Joint Roughness (MPJR interface finite element) is herein proposed for solving the frictional contact problem between a rigid indenter of any complex shape and an…
Predicting the shape of a crater formed by high velocity impact is of interest in several fields. It can aid in design of more efficient protective structures, in forensic analysis of bullet holes, and in understanding the effects of…
We review, critique, and extend results related to the problem of closed loop shape equilibria of a string shooter, a type of catenary consisting of steady, axially moving configurations of an inertial, inextensible, perfectly flexible…
Wellbore cooldown is often employed before well stimulation and/or hydraulic fracture stress testing in EGS and high temperature petroleum reservoirs. The thermo-elastic stress resulting from heat conduction during the cooling activity can…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
The radial (penny-shaped) model of hydraulic fracture is considered. The tangential traction on the fracture walls is incorporated, including an updated evaluation of the energy release rate (fracture criterion), system asymptotics and the…
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space into collision free subsets scale poorly with environmental…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…