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This paper proposes a multitask learning framework for probabilistic model updating by jointly using strain and acceleration measurements. This framework can enhance the structural damage assessment and response prediction of existing steel…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Modeling nonlinear spatiotemporal dynamical systems has primarily relied on partial differential equations (PDEs). However, the explicit formulation of PDEs for many underexplored processes, such as climate systems, biochemical reaction and…
Reconstruction of skilled humans sensation and control system often leads to a development of robust control for the robots. We are developing an unscrewing robot for the automated disassembly which requires a comprehensive control system,…
A novel data-driven constitutive modeling approach is proposed, which combines the physics-informed nature of modeling based on continuum thermodynamics with the benefits of machine learning. This approach is demonstrated on…
Interaction of corrugated steel plates with surrounding soil medium causes the investigation of seismic behavior of soil-steel structures to be complicated. Reviewing the available literature confirms the considerable scarceness in this…
Spatio-Temporal (ST) data science, which includes sensing, managing, and mining large-scale data across space and time, is fundamental to understanding complex systems in domains such as urban computing, climate science, and intelligent…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
Combining deep learning with classical physics facilitates the efficient creation of accurate dynamical models. In a recent class of neural network, Lagrangian mechanics is hard-coded into the architecture, and training the network learns…
Near surface seafloor properties are needed for recreational, commercial, and military applications. Construction projects on the ocean seafloors often require extensive knowledge about strength, deformability, hydraulic, thermal, acoustic,…
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…
Purpose: Robotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways…
Modern power steering systems employ an electric motor drive system to provide torque assistance to the driver. The closed-loop mechanical system dynamics that impact stability, performance and steering feel are significantly impacted by…
Polymer-based plastics exhibit time-dependent deformation under constant stress, known as creep, which can lead to rupture or static fatigue. A common misconception is that materials under tolerable static loads remain unaffected over time.…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
Surface stress, also known as surface tension, is a fundamental material property of any interface. However, measurements of solid surface stress in traditional engineering materials, such as metals and oxides, have proven to be very…
Buildings account for approximately 40% of global energy consumption, and with the growing share of intermittent renewable energy sources, enabling demand-side flexibility, particularly in heating, ventilation and air conditioning systems,…