Related papers: Model-based thermal drift compensation for high-pr…
The thermal and field emission of electrons from protrusions on metal surfaces is a possible limiting factor on the performance and operation of high-gradient room temperature accelerator structures. We present here the results of extensive…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
Data sets with high statistics taken at the cosmic ray facility, equipped with 3 ATLAS BOS MDT chambers, in Garching (Munich) have been used to study temperature and pressure effects on gas gain and drifttime. The deformation of a thermally…
The softmax function combined with a cross-entropy loss is a principled approach to modeling probability distributions that has become ubiquitous in deep learning. The softmax function is defined by a lone hyperparameter, the temperature,…
Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…
Thermionic emission has been exploited to give rise to the theory of thermionic cooling also known as electron transpiration cooling, which can potentially serve as a powerful and engineerable cooling mode for hypersonic leading edges that…
We analyze the many-particle Schrodinger equation for fermions in a thermal ensemble by introducing an exponential operator expansion, defined in the context of thermofield dynamics. The expansion is optimized variationally at each time…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
The Hermite-Taylor method evolves all the variables and their derivatives through order $m$ in time to achieve a $2m+1$ order rate of convergence. The data required at each node of the staggered Cartesian meshes used by this method makes…
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…
The induction heating is a common method applied in metalorganic vapor phase epitaxy (MOVPE) especially for higher-temperature growth conditions. However, compared to the susceptor heated by the multiple-zone resistant heater, the…
We propose a new algorithm for non-equilibrium molecular dynamics simulations of thermal gradients. The algorithm is an extension of the heat exchange algorithm developed by Hafskjold and co-workers [Mol. Phys. 80, 1389 (1993); Mol. Phys.…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Extreme cornering in racing often leads to large sideslip angles, presenting a significant challenge for vehicle control. Conventional vehicle controllers struggle to manage this scenario, necessitating the use of a drifting controller.…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
Solution of Ordinary Differential Equation (ODE) model of dynamical system may not agree with its observed values. Often this discrepancy can be attributed to unmodeled forcings in the evolution rule of the dynamical system. In this…