Related papers: Design and Characterization of a Micro-Vibration A…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
We describe the implementation of a 3d Lagrangian particle tracking (LPT) system based on event-based vision (EBV) and demonstrate its application for the near-wall characterization of a turbulent boundary layer (TBL) in air. The viscous…
Many biological systems can form strong adhesion to various materials with complex shapes. The adhesion is further switchable between strongly adhering and completely non-adhering in a simple and fast manner. By contrast, no engineering…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
We present a general energy approach to study the unsteady adhesive contact of viscoelastic materials. Under the assumption of infinitely short-range adhesive interactions, we exploit the principle of virtual work to generalize Griffith…
We present a novel theory of the adhesive contact of linear viscoelastic materials against rigid substrates moving at constant velocity. Despite the non-conservative behavior of the system, the closure equation of the contact problem can be…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
This study presents the analysis and design of a novel quasi-zero-stiffness (QZS) based vibration sensor system for measuring absolute displacement of vibrating platforms/objects. The sensor system is constructed by using positive and…
We test the operation of two methods for selective application of Artificial Viscosity (AV) in SPH simulations of Keplerian Accretion Disks, using a ring spreading test to quantify effective viscosity, and a correlation coefficient…
This paper treats possible solutions for vibration mitigation in reduced-order model of partially-filled liquid tank under impulsive forcing. Such excitation may lead to hydraulic impacts applied on the tank inner walls. Finite stiffness of…
We consider an immersed elastic body that is actively driven through a structured fluid by a motor or an external force. The behavior of such a system generally cannot be solved analytically, necessitating the use of numerical methods.…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
We study formation of the Vibrational Distribution Function (VDF) in a molecular gas at low pressure, when vibrational levels are excited by electron impact and deactivated in collisions with walls and show that this problem has a…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
A general model covering a large variety of the so-called adhesive or cohesive, possibly also frictional, contact interfaces between visco-elastic bodies with inertia considered in a thermodynamical context is presented. A semi-implicit…
The buoyancy-driven motion of a deformable bubble rising near a vertical hydrophilic wall is studied numerically. We focus on moderately inertial regimes in which the bubble undergoes low-to-moderate deformations and would rise in a…
With the rapid development of aerospace technology, the vibration problem of the spacecraft flexible structure urgently needs to be solved. Magnetic fluids are a type of multi-functional smart materials, which can be employed in shock…
We present a fluid dynamics video showing the adhesion of a drop to a superhydrophobic surface. We use environmental scanning electron microscopy to observe depinning events at the microscale. As the drop moves along the surface, the…
We study the mechanics of a reversible decohesion (unzipping) of an elastic layer subjected to quasi-static end-point loading. At the micro level the system is simulated by an elastic chain of particles interacting with a rigid foundation…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…