Related papers: MSA - Technique for Stiffness Modeling of Manipula…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
Recent progress in advanced additive manufacturing techniques has stimulated the growth of the field of mechanical metamaterials. One area particular interest in this subject is the creation of auxetic material properties through elastic…
Large pre-trained models have achieved outstanding results in sequence modeling. The Transformer block and its attention mechanism have been the main drivers of the success of these models. Recently, alternative architectures, such as…
Filamentous bio-materials such as fibrin or collagen networks exhibit an enormous stiffening of their elastic moduli upon large deformations. This pronounced nonlinear behavior stems from a significant separation between the stiffnesses…
The increasing integration of renewable energy sources has introduced complex dynamic behavior in power systems that challenge the adequacy of traditional continuous-time modeling approaches. These developments call for modeling frameworks…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
The stiffness modulation mechanism for soft robotics has gained considerable attention to improve deformability, controllability, and stability. However, for the existing stiffness soft actuator, high lateral stiffness and a wide range of…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
We present a high-accuracy procedure for electronic structure calculations of strongly correlated materials. To address limitations in current electronic structure methods, we employ density functional theory in combination with the…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
The conflict between stiffness and toughness is a fundamental problem in engineering materials design. However, the systematic discovery of microstructured composites with optimal stiffness-toughness trade-offs has never been demonstrated,…
Matrix-variate optimization plays a central role in advanced wireless system designs. In this paper, we aim to explore optimal solutions of matrix variables under two special structure constraints using complex matrix derivatives, including…
This paper presents a novel and scalable screw-theoretic multibody synthesis framework for PDE-based dynamic modeling of serial robotic manipulators with an arbitrary number of flexible links in three-dimensional space. The proposed…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous transitions. For example, a robot leg is able to exert very…
Implant placement under soft tissues operation is described. In this operation tissues can reach such deformations that nonlinear properties are appeared. A mass-spring model modification for modeling nonlinear tissue operation is…
Structural stiffness plays an important role in engineering design. The analysis of stiffness requires precise experiments and computational models that can be difficult or time-consuming to procure. A novel relation between modal and…
Semiflexible polymers in poor solvents exhibit a rich variety of collapsed morphologies, including globules, toroids, and rodlike bundles, arising from the competition between attractive interactions and chain stiffness. Computer…
This paper investigates the problem of data-driven modeling of port-Hamiltonian systems while preserving their intrinsic Hamiltonian structure and stability properties. We propose a novel neural-network-based port-Hamiltonian modeling…