Related papers: A smart granular intruder
Controlling flow-induced segregation in a granular mixture is highly relevant to many industrial settings. To enhance mixing or promote segregation, the continuous gravity flow of a bidisperse granular mixture through a series of narrow…
Impulses efficiently propagate into nominally dry granular beds and backscatter from buried inclusions in such beds may be potentially exploited to image shallow buried objects (SBOs). However, reliable imaging of SBOs requires ``cleaning…
A recent experiment [Son et al., Soft Matter, 2024, 20,2777-2788] showed that self-propelled particles confined within a circular boundary filled with granular medium spontaneously form a motile cluster that stays on the boundary. This…
The hydrodynamic interactions between a sedimenting microswimmer and a solid wall have ubiquitous biological and technological applications. A plethora of gravity-induced swimming dynamics near a planar no-slip wall provides a platform for…
We investigate the roles of spin and packing fraction on the dynamics of cratering when a solid projectile impacts a granular bed at different incident angles. For that, we carried out DEM (discrete element method) computations in which we…
The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
The dynamics of a hollow cylinder containing granules and rolling down an inclined plane was investigated. A theoretical approach for investigating the behaviour of such a cylinder was proposed. The critical angle of the plane that allows…
We present a deep-learning based tracking objects of interest in walking droplet and granular intruder experiments. In a typical walking droplet experiment, a liquid droplet, known as \textit{walker}, propels itself laterally on the free…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
A loosely packed bed of sand sits precariously on the fence between mechanically stable and flowing states. This has especially strong implications for animals or vehicles needing to navigate sandy environments, which can sink and become…
In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled containers to be tilted at higher angles and enabling motion…
The intruder segregation dependence on size and density is investigated in the framework of a hydrodynamic theoretical model for vibrated granular media. We propose a segregation mechanism based on the difference of densities between…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Cohesive granular materials, like wet sand, retain their shape before yielding under stress. This solid-like behavior is associated with elasticity. As the loading increases, the material typically flows. However, cohesive materials can…
Geometrically decorated two-dimensional (2D) discrete surfaces can be more effective than conventional smooth reflectors in managing wave radiation. Constructive non-specular wave scattering permits the scattering angle to be other than…
Modeling folding surfaces with nonzero thickness is of practical interest for mechanical engineering. There are many existing approaches that account for material thickness in folding applications. We propose a new systematic and broadly…
Slender structures, such as rods, often exhibit large nonlinear geometrical deformations even under moderate external forces (e.g., gravity). This characteristic results in a rich variety of morphological changes, making them appealing for…
We present an experimental study of the deformation inside a granular material that is progressively tilted. We investigate the deformation before the avalanche with a spatially resolved Diffusive Wave Spectroscopy setup. At the beginning…
We study the dynamics of an intruder moving through a fluidized granular medium in three dimensions ($d=3$). The intruder and grains have both translational and rotational degrees of freedom. The energy-dissipation mechanism is solid…