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We present an explicit time-dependent matrix product ansatz (tMPA) which describes the time-evolution of any local observable in an interacting and deterministic lattice gas, specifically for the rule 54 reversible cellular automaton of…
Modular Active Cell Robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like robotic structure can…
We present a microscopic model of a disordered viscoelastic active solid, i.e. an active material whose long time behaviour is elastic as opposed to viscous. It is composed of filaments, passive crosslinks and molecular motors powered by…
The fabrication of evermore sophisticated miniaturised soft robotic components made up of Electro-Active Polymers (EAPs) is constantly demanding parallel development from the in-silico simulation point of view. The incorporation of…
Thermal transient responses of superconducting magnets can be simulated using the finite element (FE) method. Some accelerator magnets use cables whose electric insulation is significantly thinner than the bare electric conductor. The FE…
Piezoelectric actuators have been widely used to form a self-monitoring smart system to do Structural health monitoring (SHM). One of the most fundamental issues in using actuators is to determine the actuation effects being transferred…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots, thereby fostering the evolution of these robotic systems. We introduce two novel compliant actuators, namely the Internal…
We aim to identify the control principles governing the adaptable formation of non-equilibrium structures in actomyosin networks. We build a phenomenological model and predict that biasing the energy dissipated by molecular motors should…
We propose a class of microstructurally informed models for the linear elastic mechanical behavior of cross-linked polymer networks such as the actin cytoskeleton. Salient features of the models include the possibility to represent…
Transient processes generally constitute part of energy-system cycles. If skillfully manipulated, they actually are capable of assisting systems to behave beneficially to suit designers' needs. In the present study, behaviors related to…
We propose a physics and chemistry-based constitutive framework to predict the stress responses of thermo-chemically aged elastomers and capture their brittle failure using the phase-field approach. High-temperature aging in the presence of…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the following five critical axes of performance: energy efficiency, torque density,…
We consider a directed walk model of a homopolymer (in two dimensions) which is self-interacting and can undergo a collapse transition, subject to an applied tensile force. We review and interpret all the results already in the literature…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Active solids consist of elastically coupled out-of-equilibrium units performing work. They are central to autonomous processes, such as locomotion, self-oscillations and rectification, in biological systems,designer materials and robotics.…
We have designed and tested experimentally a morphing structure consisting of a neutrally stable thin cylindrical shell driven by a multiparameter piezoelectric actuation. The shell is obtained by plastically deforming an initially flat…
Photothermomechanical polymer film actuators stand out among the dynamic components available for soft robotics due to a combination of assets, such as capability for rapid energy transduction, wireless control, and ease of miniaturization.…