Related papers: An exact dimension-reduced dynamic theory for deve…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
Proper orthogonal decomposition (POD) and dynamic mode decomposition (DMD) are two complementary singular-value decomposition (SVD) techniques that are widely used to construct reduced-order models (ROMs) in a variety of fields of science…
We study, experimentally and theoretically, the mechanical response of sheet materials on which line cracks or cuts are arranged in a simple pattern. Such sheet materials, often called kirigami (the Japanese words, kiri and gami, stand for…
Here is an English summary of the abstract: This research investigates a geometric dynamical mechanism within a specific class of domains that contain a fixed convex core. By using a radial structure that links the boundaries of the core…
Origami-inspired structures with rigid panels now span thick, kirigami, and multi-sheet realizations, making unified kinematic analysis essential. Yet a general method that consolidates their loop constraints has been lacking. We present an…
Rotational erection system (RES) represents an origami-based design method for generating a three-dimensional (3D) structure from a planar sheet without compression. Its rotational and translational kinematics is fully encoded in a form of…
Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…
A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be…
We report a Lagrangian study on the evolution of material surfaces in the K-type temporal transitional channel flow. Based on the Eulerian velocity field from the DNS, a backward-particle-tracking method is applied to solve the transport…
Continuous-time projected dynamical systems are an elementary class of discontinuous dynamical systems with trajectories that remain in a feasible domain by means of projecting outward-pointing vector fields. They are essential when…
Shape-morphing structures, which are able to change their shapes from one state to another, are important in a wide range of engineering applications. A popular scenario is morphing from an initial two-dimensional (2D) shape that is flat to…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
We developed a new explicit cloud microphysical model, based on direct numerical simulation (DNS) with Lagrangian particle tracking. The model employs a vertically-elongated quasi-1D computational domain extending from the ground to the…
Accretion of mineralized thin wall-like structures via localized growth along their edges is observed in a range of physical and biological systems ranging from molluscan and brachiopod shells to carbonate-silica composite precipitates. To…
The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…
We characterize the phase-space of all Helical Miura Origami. These structures are obtained by taking a partially folded Miura parallelogram as the unit cell, applying a generic helical or rod group to the cell, and characterizing all the…
To develop a dislocation-based statistical continuum theory of crystal plasticity is a major challenge of materials science.During the last two decades such a theory has been developed for the time evolution of a system of parallel edge…