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Structures such as waves, jets, and vortices have a dramatic impact on the transport properties of a flow. Passive tracer transport in incompressible two-dimensional flows is described by Hamiltonian dynamics, and, for idealized structures,…
Mechanical metamaterials have continued to offer unprecedented tunability in mechanical properties, but most designs to date have prioritized attaining high stiffness and strength while sacrificing deformability. The emergence of woven…
We present a new framework for the simultaneous optimiziation of both the topology as well as the relative density grading of cellular structures and materials, also known as lattices. Due to manufacturing constraints, the optimization…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
Pentamode metamaterials are a type of extremal designer metamaterials which are able to demonstrate high rigidity in one direction and extremely high compliance in other directions. Pentamodes can, therefore, be considered as building…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
We focus on preventing collisions between debris and debris, for which there is no current, effective mitigation strategy. We investigate the feasibility of using a medium-powered (5 kW) ground-based laser combined with a ground-based…
Multiscale techniques have been widely shown to potentially overcome the limitation of homogenization schemes in representing the microscopic failure mechanisms in heterogeneous media as well as their influence on their structural response…
Vacancy defects in isotropic noncollinear antiferromagnets produce long-range spin textures. By developing a "magnetic elasticity theory", we demonstrate that a vacancy-induced readjustment in the spin configuration decays algebraically…
In this work we propose a novel relationship between topology and damage propagation in Maxwell lattices that redefines fracture as a functional design feature rather than mere degradation. We demonstrate that topologically protected modes,…
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex…
Engineered lattices in condensed matter physics, such as cold atom optical lattices or photonic crystals, can have fundamentally different properties from naturally-occurring electronic crystals. Here, we report a novel type of artificial…
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challenges for modeling and control due to their inherent…
This work presents concepts and algorithms for the simulation of dynamic fractures with a Lattice Boltzmann method (LBM) for linear elastic solids. This LBM has been presented previously and solves the wave equation, which is interpreted as…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…
The three-dimensional elastic-plastic deformation is considered. The catastrophe theory underlies the construction of this process model. It was shown that the variety of stable states consists on elastic states and can be depicted as a…
In this project, we attempt to optimize a landing trajectory of a rocket. The goal is to minimize the total fuel consumption during the landing process using different techniques. Once the optimal and feasible trajectory is generated using…
The present work involves the discrete modelling of corrosion induced cracking and its influence on the bond between reinforcement and concrete. A lattice approach is used to describe the mechanical interaction of a corroding reinforcement…
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…