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Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Dynamic substructuring (DS) methods encompass a range of techniques to decompose large structural systems into multiple coupled subsystems. This decomposition has the principle benefit of reducing computational time for dynamic simulation…
An elastic arch is an archetypal bistable system. Here, we combine elastica theory and photo-mechanical experiments to elucidate the mechanics of an active arch with a spatio-temporally varying preferred curvature $\overline \kappa(s)$. Our…
In this paper, the dynamics of a system of a finite number of screw dislocations is studied. Under the assumption of antiplane linear elasticity, the two-dimensional dynamics is determined by the renormalised energy. The interaction of one…
We study experimentally the fracture dynamics during the peeling at a constant velocity of a roller adhesive tape mounted on a freely rotating pulley. Thanks to a high speed camera, we measure, in an intermediate range of peeling…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Motivated by recent experimental observations of capillary-induced spooling of fibers inside droplets both in spider capture silk and in synthetic systems, we investigate the behavior of a fiber packed in a drop. Using a simplified 2D…
A long-standing challenge in impact mitigation is the development of versatile and omnifarious protective structures capable of encompassing a wide spectrum of scenarios, for example, ranging from low-speed pedestrian impacts to high-speed…
The Dynamic Mode Decomposition (DMD)---a popular method for performing data-driven Koopman spectral analysis---has gained increased adoption as a technique for extracting dynamically meaningful spatio-temporal descriptions of fluid flows…
We present numerical simulation of 2D turbulent flow using a new model for the subgrid scales which are computed using a dynamic equation linking the subgrid scales with the resolved velocity. This equation is not postulated, but derived…
Active filaments are a workhorse for propulsion and actuation across biology, soft robotics and mechanical metamaterials. However, artificial active rods suffer from limited robustness and adaptivity because they rely on external control,…
We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
The dynamic properties of a model transient network have been studied by dynamic light scattering. The network is formed by microemulsion droplets linked by telechelic polymers (modified hydrophilic polymers with two grafted hydrophobic…
This study employed smoothed particle hydrodynamics (SPH) as the numerical environment, integrated with deep reinforcement learning (DRL) real-time control algorithms to optimize the sloshing suppression in a tank with a centrally…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Tissue stiffness is related to soft tissue pathologies and can be assessed through palpation or via clinical imaging systems, e.g., ultrasound or magnetic resonance imaging. Typically, the image based approaches are not suitable during…
In the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…
Equations for dislocation evolution bridge the gap between dislocation properties and continuum descriptions of plastic behavior of crystalline materials. Computer simulations can help us verify these evolution equations and find their…
The design space of dynamic multibody systems (MBSs), particularly those with flexible components, is considerably large. Consequently, having a means to efficiently explore this space and find the optimum solution within a feasible…