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We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…
Rare transitions between long-lived stable states are often analyzed in terms of free energy landscapes computed as functions of a few collective variables. Here, using transitions between geometric phases as example, we demonstrate that…
Recent interest in structure solution and refinement using electron diffraction (ED) has been fuelled by its inherent advantages when applied to crystals of sub-micron size, as well as a better sensitivity to light elements. Currently, data…
We study a dynamical counterpart of bifurcation to invariant torus for a system of interconnected fast phase variables and slowly varying parameters. We show that in such a system, due to the slow evolution of parameters, there arise…
The morphological dynamics, instabilities and transitions of elastic filaments in viscous flows underlie a wealth of biophysical processes from flagellar propulsion to intracellular streaming, and are also key to deciphering the rheological…
The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
Autonomous obstacle avoidance is of vital importance for an intelligent agent such as a mobile robot to navigate in its environment. Existing state-of-the-art methods train a spiking neural network (SNN) with deep reinforcement learning…
A 1:2 internally resonant mechanical system can undergo secondary Hopf (Neimark-Sacker) bifurcations, resulting in a quasi-periodic response when the system is subject to harmonic excitation. While these quasi-periodic orbits have been…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
Differential equation-based physiological models of sleep-wake networks describe sleep-wake regulation by simulating the activity of wake- and sleep-promoting neuronal populations and the modulation of these populations by homeostatic and…
We investigate the finite bending and the associated bending instability of an incompressible dielectric slab subject to a combination of applied voltage and axial compression, using nonlinear electro-elasticity theory and its incremental…
Step strain experiments and dynamic light scattering measurements are perfomed to characterize the dynamic behavior of an o/w droplet microemulsion into which is incorporated a telechelic polymer. At sufficient droplet and polymer…
Scientific computing for large deformation of elastic-plastic solids is critical for numerous real-world applications. Classical numerical solvers rely primarily on local discrete linear approximation and are constrained by an inherent…
The moving-contact line between a fluid, liquid and a solid is a ubiquitous phenomenon, and determining the maximum speed at which a liquid can wet/dewet a solid is a practically important problem. Using continuum models, previous studies…
In this paper we describe a combined combinatorial/numerical approach to studying equilibria and bifurcations in network models arising in Systems Biology. ODE models of the dynamics suffer from high dimensional parameters which presents a…
The flow past a bullet-shaped blunt body moving in a pipe is investigated through global linear stability analysis (LSA) and direct numerical simulation (DNS). A cartography of the bifurcation curves is provided thanks to LSA, covering the…
For an elastic system that is non-conservative but autonomous, subjected for example to time-independent loading by a steadily flowing fluid (air or water), a dangerous bifurcation, such as a sub-critical bifurcation, or a cyclic fold, will…