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The use of well-disentangled representations offers many advantages for downstream tasks, e.g. an increased sample efficiency, or better interpretability. However, the quality of disentangled interpretations is often highly dependent on the…
A method to calculate the bending rigidity $\kappa$, saddle-splay modulus $\bar{\kappa}$, and spontaneous curvature $C_0$ of a fluid membrane is proposed. Virtual work for the bending deformations into cylindrical and spherical shapes is…
Variable rate is a requirement for flexible and adaptable image and video compression. However, deep image compression methods are optimized for a single fixed rate-distortion tradeoff. While this can be addressed by training multiple…
This paper presents a novel Dynam-i-c Droop (iDroop) control mechanism to perform primary frequency control with gird-connected inverters that improves the network dynamic performance. The work is motivated by the dynamic degradation…
Flexible structures in an incoming perpendicular flow typically undergo elastic reconfiguration that reduces drag; however, at higher velocities, they are prone to dynamical instabilities that entail complex wake dynamics and fluctuating…
We use the entropy method to analyze the nonlinear dynamics and stability of a continuum kinetic model of an active nematic suspension. From the time evolution of the relative entropy -- an energy-like quantity in the kinetic model -- we…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Flatback airfoils, characterized by a blunt trailing edge, are used at the root of large wind turbine blades. A low-drag pocket has recently been identified in the flow past these airfoils at high angles of attack, potentially offering…
A widely embraced approach to mitigate the dynamic degradation in low-inertia power systems is to mimic generation response using grid-connected inverters to restore the grid's stiffness. In this paper, we seek to challenge this approach…
Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
We present a manifestly covariant formulation of the gradient descent method, ensuring consistency across arbitrary coordinate systems and general curved trainable spaces. The optimization dynamics is defined using a covariant force vector…
We explore the rotational stability of hovering flight. Our model is motivated by an experimental pyramid-shaped object and a computational lambda-shaped analog hovering passively in oscillating airflows; both systems have been shown to…
This letter proposes an anti-disturbance control scheme for rotor drones to counteract voltage drop (VD) disturbance caused by voltage drop of the battery, which is a common case for long-time flight or aggressive maneuvers. Firstly, the…
The cavitation behaviour of a four-blade rocket engine turbopump inducer is simulated. A 2D numerical model of unsteady cavitation was applied to a blade cascade drawn fromthe inducer geometry. The physical model is based on a homogeneous…
Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
With the growing size and complexity of turbulent flow models, data compression approaches are of the utmost importance to analyze, visualize, or restart the simulations. Recently, in-situ autoencoder-based compression approaches have been…
With the rapid development of aerospace technology, the vibration problem of the spacecraft flexible structure urgently needs to be solved. Magnetic fluids are a type of multi-functional smart materials, which can be employed in shock…
Unlike traditional model-based reinforcement learning approaches that estimate system parameters from data, non-model-based data-driven control learns the optimal policy directly from input-state data without any intermediate model…