Related papers: Dynamic Modeling, Parameter Identification and Num…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
This paper presents a numerically exact cable finite element model for static nonlinear analysis of cable structures. The model derives the exact expression of the tension field using the geometrically exact beam theory coupled with the…
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…
This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known to have a highly…
To fully understand, analyze, and determine the behavior of dynamical systems, it is crucial to identify their intrinsic modal coordinates. In nonlinear dynamical systems, this task is challenging as the modal transformation based on the…
A universal framework for modeling composites and fabrics of micro- and nanofibers, such as carbon nanotubes, carbon fibers and amyloid fibrils, is presented. Within this framework, fibers are represented with chains of rigid bodies, linked…
Obtaining predictive low-order models is a central challenge in fluid dynamics. Data-driven frameworks have been widely used to obtain low-order models of aerodynamic systems; yet, resulting models tend to yield predictions that grow…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
The variational static formulation contributed in [International Journal of Engineering Science 143, 73-91 (2019)] is generalized in the present paper to model axial and flexural dynamic behaviors of elastic nano-beams by nonlocal strain…
Nonlinear elastic metamaterials are known to support a variety of dynamic phenomena that enhance our capacity to manipulate elastic waves. Since these properties stem from complex, subwavelength geometry, full-scale dynamic simulations are…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…
Accurate models are essential for design, performance prediction, control, and diagnostics in complex engineering systems. Physics-based models excel during the design phase but often become outdated during system deployment due to changing…
Neural networks have demonstrated remarkable success in modeling nonlinear dynamical systems. However, identifying these systems from closed-loop experimental data remains a challenge due to the correlations induced by the feedback loop.…
We present a numerical study to characterize nonlinear unsteady aeroelastic interactions of two-dimensional flexible wings at high angles of attack. The coupled fluid-flexible wing system is solved by a body-fitted variational aeroelastic…
We propose a computational framework, Hetero-EUCLID, for segmentation and parameter identification to characterize the full hyperelastic behavior of all constituents of a heterogeneous material. In this work, we leverage the Bayesian-EUCLID…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
The complex behavior of many natural and engineered systems emerges from the interaction of a small number of effective degrees of freedom. Discovering the physical basis of the interactions between these degrees of freedom directly from…
Elastic wave propagation provides a noninvasive way to probe granular materials. The discrete element method using particle configuration as input, allows a micromechanical interpretation on the acoustic response of a given granular system.…
Equations of motion and dynamics of a quadrotor transporting a load with a flexible cable modeled as a chain pendulum is obtained using Euler-Lagrange equations by taking variations on manifolds. An arbitrary number of links considered in a…
There has been increasing experimental evidence of non-affine elastic deformation mechanisms in biological soft tissues. These observations call for novel constitutive models which are able to describe the dominant underlying…