相关论文: Mitigating Coriolis Effects in Centrifuge Simulato…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
This is the third in a series of papers that deal with angular momentum transport by internal gravity waves. We concentrate on the waves excited by core convection in a 3Msun, Pop I main sequence star. Here, we want to examine the role of…
Patient motion is well-known for degrading image quality during medical imaging. Especially positron emission tomography (PET) is susceptible to motion due to its usually long scan times. In hybrid PET/MRI (magnetic resonance imaging),…
State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while small steps force the simulation to run…
Purpose: Simulation of motion in the frequency domain during the MRI acquisition process is an important tool to study the effect of object motion. It is natural in this context to rely on a voxel-to-voxel difference metric between the…
Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of…
Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making…
Coherent errors, and especially those that occur in correlation among a set of qubits, are detrimental for large-scale quantum computing. Correlations in noise can occur as a result of spatial and temporal configurations of instructions…
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constraints or constrained optimization, requiring per-step…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper investigates the impact of control field noise on the optimal manipulation of quantum dynamics. Simulations are performed on several multilevel quantum systems with the goal of population transfer in the presence of significant…
The CG-2 beamline at the High Flux Isotope Reactor (HFIR) exhibits a notable discrepancy between observed count rates and the count rates we would expect based on a Monte-Carlo neutron ray-trace simulation. These simulations consistently…
We used our newly developed magnetohydrodynamic (MHD) code to perform 2.5D simulations of a fast-mode MHD wave interacting with coronal holes (CH) of varying Alfv\'en speed which result from assuming different CH densities. We find that…
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring the safety of human workers in dynamic, shared spaces remains…
Over these years, Correlation Filter-based Trackers (CFTs) have aroused increasing interests in the field of visual object tracking, and have achieved extremely compelling results in different competitions and benchmarks. In this paper, our…
Upgraded spectroscopic hardware and an improved impurity concentration calculation allow accurate determination of boron density in the ASDEX Upgrade tokamak. A database of boron measurements is compared to quasilinear and nonlinear…
We present the first-of-its-kind coupling of a continuum full-f gyrokinetic turbulence model with a 6D continuum model for kinetic neutrals, carried out using the Gkeyll code. Our objective is to improve the first-principles understanding…
We experimentally optimize mixing of a turbulent round jet using machine learning control (MLC) following Li et al (2017). The jet is manipulated with one unsteady minijet blowing in wall-normal direction close to the nozzle exit. The flow…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…