Related papers: An exact dimension-reduced dynamic theory for deve…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
This research paper addresses the problem of generating involuntary and precise animation of quadrupeds with automatic rigging system of various character types. The technique proposed through this research is based on a two tier animation…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The leaf-like origami structure was inspired by geometric patterns found in nature, exhibiting unique transitions between open and closed shapes. With a bistable energy landscape, leaf-like origami is able to replicate the autonomous…
We present an exact dimensional reduction for high-dimensional dynamical systems composed of $N$ identical dynamical units governed by quasi-linear ordinary differential equations (ODEs) of order $M$. In these systems, each unit follows a…
We study a 2D potential flow of an ideal fluid with a free surface with decaying conditions at infinity. By using the conformal variables approach, we study a particular solution of Euler equations having a pair of square-root branch points…
Any ruled surface in Euclidean 3-space is described as a curve of unit dual vectors in the algebra of dual quaternions (=the even Clifford algebra of type (0,3,1)). Combining this classical framework and Singularity Theory, we characterize…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
The relaxational dynamics of 1+1 dimensional directed polymer in random potential is studied by Monte Carlo simulation. A series of temperature quench experiments is performed changing waiting times. Clear crossover from quasi-equilibrium…
N-body simulations are essential for understanding the formation and evolution of structure in the Universe. However, the discrete nature of these simulations affects their accuracy when modelling collisionless systems. We introduce a new…
We develop some design examples for approximating a target surface at the final rigidly folded state of a developable quadrilateral creased paper, which is folded with a 1-DOF rigid folding motion from the planar state. The final rigidly…
We address Lagrangian drift simulation in geophysical dynamics and explore deep learning approaches to overcome known limitations of state-of-the-art model-based and Markovian approaches in terms of computational complexity and error…
Models for fluid deformable surfaces provide valid theories to describe the dynamics of thin fluidic sheets of soft materials. To use such models in morphogenesis and development requires to incorporate active forces. We consider active…
Kirigami-inspired designs can enable self-folding three-dimensional materials from flat, two-dimensional sheets. Hierarchical designs of connected levels increase the diversity of possible target structures, yet they can lead to longer…
Consider the 3D flow of a viscous Newtonian fluid upon a curved 2D substrate when the fluid film is thin as occurs in many draining, coating and biological flows. We derive a comprehensive model of the dynamics of the film, the model being…
The numerical simulation of realistic reactive flows is a major challenge due to the stiffness and high dimension of the corresponding kinetic differential equations. Manifold-based model reduction techniques address this problem by…
Direct mesh editing and deformation are key components in the geometric modeling and animation pipeline. Mesh editing methods are typically framed as optimization problems combining user-specified vertex constraints with a regularizer that…
This work deals with shape optimization for contact mechanics. More specifically, the linear elasticity model is considered under the small deformations hypothesis, and the elastic body is assumed to be in contact (sliding or with Tresca…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
By incorporating physical consistency as inductive bias, deep neural networks display increased generalization capabilities and data efficiency in learning nonlinear dynamic models. However, the complexity of these models generally…