Related papers: A smart granular intruder
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
There is an every-growing need to construct large space telescopes and structures for observation of exo-planets, main-belt asteroids and NEOs. Space observation capabilities can significant enhanced by large-aperture structures. Structures…
We describe size-varying cylindrical particles made from silicone elastomers that can serve as building blocks for robotic granular materials. The particle size variation, which is achieved by inflation, gives rise to changes in stiffness…
We create a mechanical digger able to move within 2D densely-packed granular media, in a manner intrinsically different from the existing biomimic diggers. The characteristics of our design include that the average grain size is about one…
The hydrodynamic stationary states of a granular fluid are addressed theoretically when subject to energy injection and a time-independent, but otherwise arbitrary external potential force. When the latter is not too symmetrical in a well…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
Cells and microorganisms employ dynamic shape changes to enable steering and avoidance for efficient spatial exploration and collective organization. In contrast, active colloids, their synthetic counterparts, currently lack similar…
We investigate the motion of groups of intruders in a two-dimensional granular system by using discrete numerical simulations. By imposing either a constant velocity or a thrusting force on larger disks (intruders) that move within smaller…
Spontaneous stratification of granular mixtures has been reported by Makse et al. [Nature 386, 379 (1997)] when a mixture of grains differing in size and shape is poured in a quasi-two-dimensional heap. We study this phenomenon using two…
Glitches have been frequently observed in neutron stars. Previously these glitches unexceptionally manifest as sudden spin-ups that can be explained as due to impulsive transfer of angular momentum from the interior superfluid component to…
We investigate the effective friction encountered by an intruder moving through a sedimented medium which consists of transparent granular hydrogels immersed in water, and the resulting motion of the medium. We show that the effective…
Granular intrusion is commonly observed in natural and human-made settings. Unlike typical solids and fluids, granular media can simultaneously display fluid-like and solid-like characteristics in a variety of intrusion scenarios. This…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
The drag of an elliptic intruder in a two-dimensional granular environment is numerically studied. The movement parallel to the major axis of the intruder is found to be unstable. The drag law is given by the sum of the yield force and the…
In this paper we present an early prototype of the Digger Finger that is designed to easily penetrate granular media and is equipped with the GelSight sensor. Identifying objects buried in granular media using tactile sensors is a…
High-fidelity 3D reconstruction of common indoor scenes is crucial for VR and AR applications. 3D Gaussian splatting, a novel differentiable rendering technique, has achieved state-of-the-art novel view synthesis results with high rendering…
Rotating axisymmetric objects amplify incoming waves by superradiant scattering. When enclosed in a cavity, the repeated interaction of a confined field with the object may trigger superradiant instabilities. Rotating binaries are…
We consider simple models of tunneling of an object with intrinsic degrees of freedom. This important problem was not extensively studied until now, in spite of numerous applications in various areas of physics and astrophysics. We show…
We investigate how a symmetric penetrable object immersed in an active fluid becomes motile due to a negative drag acting in the direction of its velocity. While similar phenomena have been reported only for active fluids that posses polar…