相关论文: Rate-independent soft crawlers
Cell crawling requires the generation of intracellular forces by the cytoskeleton and their transmission to an extracellular substrate through specific adhesion molecules. Crawling cells show many features of excitable systems, such as…
We study dissipative dynamics constructed by means of non-commutative Dirichlet forms for various lattice systems with multiparticle interactions associated to CCR algebras. We give a number of explicit examples of such models. Using an…
We propose a phase-field model of dynamic fracture based on the Ambrosio--Tortorelli's approximation, which takes into account dissipative effects due to the speed of the crack tips. By adapting the time discretization scheme contained in…
Some mechanical systems, that are modeled to have inelastic collisions, nonetheless possess energy-conserving intermittent-contact solutions, known as collisionless solutions. Such a solution, representing a persistent hopping or walking…
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a…
We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion model of a quadrupedal magnetic climbing robot is incorporated…
Limbless crawling is ubiquitous in biology, from cells to organisms. We develop and analyze a model for the dynamics of one-dimensional elastic crawlers, subject to active stress and deformation-dependent friction with the substrate. We…
Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…
In this paper, we apply the thermodynamic framework recently put into place by Rajagopal and co-workers, to develop rate-type models for viscoelastic fluids which do not possess instantaneous elasticity. To illustrate the capabilities of…
Rate-independent systems arise in a number of applications. Usually, weak solutions to such problems with potentially very low regularity are considered, requiring mathematical techniques capable of handling nonsmooth functions. In this…
We study well-posedness for the relaxed linear elastic micromorphic continuum model with symmetric Cauchy force-stresses and curvature contribution depending only on the micro-dislocation tensor. In contrast to classical micromorphic models…
Rationally independent free fermions are those where sums of single-particle energies multiplied by arbitrary rational coefficients vanish only if the coefficients are all zero. This property guaranties that they have no degeneracies in the…
This work provides a geometric approach to the study of bifurcation and rate induced transitions in a class of non-autonomous systems referred to herein as $\textit{asymptotically slow-fast systems}$, which may be viewed as 'intermediate'…
In a number of physically relevant contexts, a quantum system interacting with a decohering environment is simultaneously subjected to time-dependent controls and its dynamics is thus described by a time-dependent Lindblad master equation.…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Synthetic nanoscale complexes capable of mechanical movement are often studied theoretically using discrete-state models that involve instantaneous transitions between metastable states. A number of general results have been derived within…
We consider a non-negative and one-homogeneous energy functional $\mathcal J$ on a Hilbert space. The paper provides an exact relation between the solutions of the associated gradient-flow equations and the energetic solutions generated via…
Predicting how a deformable body moves and deforms in a viscous flow underlies problems ranging from microorganism locomotion to soft microrobotics, yet existing frameworks are either problem-specific or ill-suited to inverse design. We…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
We present the theory of time-dependent point transformations to find independent dynamical normal modes for 2D systems subjected to time-dependent control in the limit of small oscillations. The condition that determines if the independent…