Related papers: Efficient Optimization of a Permanent Magnet Array…
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a…
Flexible electronics is an emerging field in many applications ranging from in vivo biomedical devices to wearable smart systems. The capability of conforming to curved surfaces opens the door to add electronic components to miniaturized…
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
The study of the long time conservation for numerical methods poses interesting and challenging questions from the point of view of geometric integration. In this paper, we analyze the long time energy and magnetic moment conservations of…
The ability to achieve and maintain inverted poses is essential for unlocking the full agility of miniature blimp robots (MBRs). However, developing reliable inverted control strategies for MBRs remains challenging due to their complex and…
Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead to particular difficulties in modeling and control. This…
Ferromagnetism (FM) is the cornerstone of permanent magnets, data storage and other technologies that directly impact our everyday life by their implementation in standard applications and devices. When downscaling bulk materials into their…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Quadratic trapping potentials are widely used to experimentally probe biopolymers and molecular machines and drive transitions in steered molecular-dynamics simulations. Approximating energy landscapes as locally quadratic, we design…
In this paper, deterministic and robust design optimizations of a permanent magnet assisted synchronous reluctance machine were performed to increase its mean torque while reducing torque ripple. These optimizations were carried out using a…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
<jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning…
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape to be guarded, and $k$ mobile sensors where the $i$-th…
Recent advances in quantum information processing with trapped ions have demonstrated the need for new ion trap architectures capable of holding and manipulating chains of many (>10) ions. Here we present the design and detailed…
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…
Local administration of thrombolytics in ischemic stroke could accelerate clot lysis and the ensuing reperfusion while minimizing the side effects of systemic administration. Medical microrobots could be injected into the bloodstream and…
Micromagnetics depends on high-fidelity numerical methods for magnetization dynamics. This work proposes a third-order temporal accuracy scheme for the Landau-Lifshitz-Gilbert equation, addressing accuracy-efficiency trade-offs in existing…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
While electrons moving perpendicular to a magnetic field are confined to cyclotron orbits, they can move freely parallel to the field. This simple fact leads to complex current flow in clean, low carrier density semi-metals, such as…