Related papers: MSA - Technique for Stiffness Modeling of Manipula…
This paper presents a topology optimization framework for structural problems subjected to transient loading. The mechanical model assumes a linear elastic isotropic material, infinitesimal strains, and a dynamic response. The optimization…
Common models describing magnetotransport properties of periodically modulated two--dimensional systems often either directly start from a semiclassical approach or give results well conceivable within the semiclassical framework. Recently,…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
The capabilities of additive manufacturing have facilitated the design and production of mechanical metamaterials with diverse unit cell geometries. Establishing linkages between the vast design space of unit cells and their effective…
Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they…
The increased adoption of reinforced polymer (RP) composite materials, driven by eco-design standards, calls for a fine balance between lightness, stiffness, and effective vibration control. These materials are integral to enhancing…
Markov automata (MA) constitute an expressive continuous-time compositional modelling formalism. They appear as semantic backbones for engineering frameworks including dynamic fault trees, Generalised Stochastic Petri Nets, and AADL. Their…
Many complex engineering systems consist of multiple subsystems that are developed by different teams of engineers. To analyse, simulate and control such complex systems, accurate yet computationally efficient models are required. Modular…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
Mamba, a special case of the State Space Model, is gaining popularity as an alternative to template-based deep learning approaches in medical image analysis. While transformers are powerful architectures, they have drawbacks, including…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
The purpose of this work is to study mortar methods for linear elasticity using standard low order finite element spaces. Based on residual stabilization, we introduce a stabilized mortar method for linear elasticity and compare it to the…
Purpose: From the myofibrils to the whole muscle scale, muscle micro-constituents exhibit passive and active mechanical properties, potentially coupled to electrical, chemical, and thermal properties. Experimental characterization of some…
We investigate finite-dimensional constrained structured optimization problems, featuring composite objective functions and set-membership constraints. Offering an expressive yet simple language, this problem class provides a modeling…
Natural ceramic composites present complex microstructures that lead to tortuous crack paths and confer them high toughness. Current microreinforced composites do not yet reach the same level of complexity in their microstructures,…
We derive a model for the finite motion of a magneto-elastic rod reinforced with isotropic (spherical) or anisotropic (ellipsoidal) inclusions. The particles are assumed weakly and uniformly magnetised, rigid and firmly embedded into the…
Many complex mechatronic systems consist of multiple interconnected dynamical subsystems, which are designed, developed, analyzed, and manufactured by multiple independent teams. To support such a design approach, a modular model framework…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…