相关论文: Control of an Architectural Cable Net Geometry
We introduce a compact yet highly expressive design space for shellular metamaterials. By employing only a few dozen degrees of freedom, this design space represents geometries ranging from simple planar configurations to complex triply…
Fibre-reinforced hydrogels are promising materials for biomedical applications due to their strength, toughness, and tunability. However, it remains unclear how to design fibre-reinforced hydrogels for use in specific applications due to…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
Traditionally power distribution networks are either not observable or only partially observable. This complicates development and implementation of new smart grid technologies, such as those related to demand response, outage detection and…
We consider the controllability of large-scale linear networked dynamical systems when complete knowledge of network structure is unavailable and knowledge is limited to coarse summaries. We provide conditions under which average…
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…
Numerical methods are extremely useful in gaining insights into the behaviour of reinforced soil retaining walls. However, traditional numerical approaches such as limit equilibrium or finite element methods are unable to simulate large…
Assembling lattices from discrete building blocks enables the composition of large, heterogeneous, and easily reconfigurable objects with desirable mass-to-stiffness ratios. This type of building system may also be referred to as a digital…
Electrical power grids are vulnerable to cascading failures that can lead to large blackouts. Detection and prevention of cascading failures in power grids is impor- tant. Currently, grid operators mainly monitor the state (loading level)…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However,…
Static structured control refers to the task of designing a state-feedback controller such that the control gain satisfies a subspace constraint. Structured control has applications in control of communication-inhibited dynamical systems,…
We study the strong structural controllability (SSC) of diffusively coupled networks, where the external control inputs are injected to only some nodes, namely the leaders. For such systems, one measure of controllability is the dimension…
Industrial cyber-infrastructure is normally a multilayered architecture. The purpose of the layered architecture is to hide complexity and allow independent evolution of the layers. In this paper, we argue that this traditional strict…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
Smart structures are usually designed with a stimulus-response mechanism to mimic the autoregulatory process of living systems. In this work, in order to simulate this natural and self-adjustable behavior, a fuzzy feedback linearization…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Voltage control generally requires accurate information about the grid's topology in order to guarantee network stability. However, accurate topology identification is a challenging problem for existing methods, especially as the grid is…
Active structures have the ability to change their shape, properties, and functionality as a response to changing operational conditions, which makes them more versatile than their static counterparts. However, most active structures…