相关论文: Single-Input Control of Multiple Fluid-Driven Elas…
This work deals with the closed-loop control of streaky structures induced by free-stream turbulence in a zero-pressure gradient, transitional boundary layer, by means of localized sensors and actuators. A linear quadratic gaussian…
In this work, the electrohydrodynamic (EHD) instability induced by a unipolar charge injection is extended from a single-phase dielectric liquid to a two-phase system that consists of a liquid-air interface. A volume of fluid (VOF) model…
In this paper, we discuss the dynamic modeling of fluid-filled straw-like elements consisting of serially interconnected elastic frusta with both axisymmetric and antisymmetric degrees of freedom, assuming planar motion. Under appropriate…
We study experimentally the dynamics of one and two ball-chains settling under gravity in a very viscous fluid at a Reynolds number much smaller than unity. We demonstrate that single ball-chains in most cases do not tend to be planar and…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…
The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on and off. As a recent alternative, fluidic control methods have been…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
We study numerically how multiple deformable capsules squeeze into a constriction. This situation is largely encountered in microfluidic chips designed to manipulate living cells, which are soft entities. We use fully three-dimensional…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
This paper numerically investigates the influence of a fixed downstream control cylinder on the flow-induced vibration of an elastically-supported primary cylinder. These two cylinders are situated in a tandem arrangement with small…
The present study aims to investigate the effectiveness of plasma actuators in controlling the flow around a finite wall-mounted square cylinder (FWMSC) with a longitudinal aspect ratio of 4. The test is conducted in a small-scale closed…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, achieving high-performance regulation across both pressure polarities remains challenging due…
In this fluid dynamics video, we study a two-phase flow in an elastic Hele-Shaw cell that involves two distinct fluid- and solid-based instabilities: viscous fingering and sheet buckling. We show that the relative importance of the two…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…
In this paper, we present the results of a numerical study of air-water turbulent bubbly flow in a periodic vertical square duct. The study is conducted using a novel numerical technique which leverages Volume of Fluid method for interface…
Soft particles such as microgels and core-shell particles can undergo significant and anisotropic deformations when adsorbed to a liquid interface. This, in turn, leads to a complex phase behavior upon compression. Here we develop a…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…