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In this paper, we describe the unification and extension of multiple kinematic theories on the advection of colloidal particles through periodic obstacle lattices of arbitrary geometry and infinitesimally small obstacle size. We focus…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
Materials that dissipate energy efficiently under high-speed impacts, from micrometeoroid strikes on spacecraft to ballistic penetration in protective systems, are essential for maintaining structural integrity in extreme environments. Yet,…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…
Lattice networks with dissipative interactions can be used to describe the mechanics of discrete meso-structures of materials such as 3D-printed structures and foams. This contribution deals with the crack initiation and propagation in such…
Intracellular transport processes driven by molecular motors can be described by stochastic lattice models of self-driven particles. Here we focus on bidirectional transport models excluding the exchange of particles on the same track. We…
The topologically protected transport of colloidal particles on top of magnetic patterns of all possible single lattice constant two dimensional magnetic point group symmetries is studied experimentally, theoretically, and with numerical…
Foot trajectory planning for dry adhesion legged climbing robots presents challenges, as the phases of foot detachment, swing, and adhesion significantly influence the adhesion and detachment forces essential for stable climbing. To tackle…
This paper examines various ways of improving the impact resilience of protective structures. Such structures' purpose is to dissipate an impact's energy while avoiding cracking and failure. We have tested the reaction of plane…
Low-thrust electric propulsion missions are often designed under simplifying assumptions such as constant thrust or fixed specific impulse, neglecting the strong coupling between trajectory dynamics, spacecraft power availability, and…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
Magnetic structures and their stability of the multiple helical spin density waves (MHSDW) and related magnetic skyrmions in itinerant electron system have been investigated on the basis of both the phenomenological and microscopic…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
The increasing velocity and frequency of space missions necessitate advancements in spacecraft protection technologies to ensure mission success and the safety of onboard systems and personnel. Existing shielding solutions, including…
An atomistic model of near-crack-tip plasticity on a square lattice under anti-plane shear kinematics is formulated and studied. The model is based upon a new geometric and functional framework of a lattice manifold complex, which ensures…
Active debris removal (ADR) missions have garnered significant interest as means of mitigating collision risks in space. This work proposes a convex optimization-based model predictive control (MPC) approach to provide guidance for such…
We report the results of three-dimensional smoothed particle hydrodynamics simulations of interactions of overdense, radiatively cooling and adiabatic jets with dense, compact clouds in frontal and off-axis collisions. Calculated for a set…
As the orbital environment around Earth becomes increasingly crowded with debris, active debris removal (ADR) missions face significant challenges in ensuring safe operations while minimizing the risk of in-orbit collisions. This study…
Quantum degenerate gases trapped in optical lattices are ideal testbeds for fundamental physics because these systems are tunable, well characterized, and isolated from the environment. Controlled disorder can be introduced to explore…