相关论文: Control-oriented Modeling of Bend Propagation in a…

The directed preferential attachment model is revisited. A new exact characterization of the limiting in- and out-degree distribution is given by two \emph{independent} pure birth processes that are observed at a common exponentially…

Orthogonal projection-based reduced order models (PROM) are the output of widely-used model reduction methods. In this work, a novel product form is derived for the reduction error system of these reduced models, and it is shown that any…

We introduce a method to sample the orientational distribution function in computer simulations. The method is based on the exact torque balance equation for classical many-body systems of interacting anisotropic particles in equilibrium.…

Granular packings display a wealth of mechanical features which are of widespread significance. One of these features is creep: the slow deformation under applied stress. Creep is common for many other amorphous materials such as many…

In this work, we consider wave propagation in materials characterized by nonlinear properties or damage. To accelerate the simulations of the resulting high-dimensional problems, we apply model order reduction methods. Depending on the…

We present a novel experimental system that can be used to study the dynamics of picoliter droplet spreading over substrates with topographic variations. We concentrate on spreading of a droplet within a recessed stadium-shaped pixel, with…

This paper proposes SoftGM, an octopus-inspired distributed control architecture for segmented soft robotic arms that learn to reach targets in contact-rich environments using online obstacle discovery without relying on global obstacle…

Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…

Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…

Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for…

We investigate numerically the dynamics of crack propagation along a weak plane using a model consisting of fibers connecting a soft and a hard clamp. This bottom-up model has previously been shown to contain the competition of two crack…

This paper invented a new rolling control mechanism of two section articulated-wing ornithopter, which is analogues to aileron control in plane, however, similar control mechanism leads to opposite result, indicating the ornithopter…

With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…

We conducted high-resolution large-eddy simulations (LESs) to explore the effects of opposition control (OC) on turbulent boundary layers (TBLs) over a wing at a chord-based Reynolds number (${Re}_c$) of 200,000. Two scenarios were studied:…

Electron vortex beams hold great promise for development in transmission electron microscopy, but have yet to be widely adopted. This is partly due to the complex set of interactions that occur between a beam carrying orbital angular…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

As a consequence of shearing, wing cracks can emerge from pre-existing fractures. The process involves the interaction of sliding of the existing fracture surfaces and the tensile material failure that creates wing cracks. This work devises…

We investigate mutual local chain order in systems of fully flexible polymer melts in a simple generic bead-spring model. The excluded-volume interaction together with the connectivity leads to local ordering effects which are independent…

There has been an increasing interest in learning dynamics simulators for model-based control. Compared with off-the-shelf physics engines, a learnable simulator can quickly adapt to unseen objects, scenes, and tasks. However, existing…