相关论文: Nonlinear Dynamic Modeling of a Tether-net System …
In this paper, the modelling strategy of a Cosserat rod element (CRE) is addressed systematically for 3-dimensional dynamical analysis of slender structures. We employ the exact nonlinear kinematic relationships in the sense of Cosserat…
In recent years, computer simulators of rigid-body systems have been successfully used to improve and expand the field of developing new space robots, becoming a leading tool for the preliminary investigation and evaluation of space robotic…
This paper presents a practical and scalable grid-based state estimation method for high-dimensional models with invertible linear dynamics and with highly non-linear measurements, such as the nearly constant velocity model with…
The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite,…
This paper investigates the effects of geometric nonlinearity and structural flexibility on the flight dynamics of high-aspect-ratio wings representative of high-altitude long endurance aircraft configurations. A coupled aeroelastic flight…
Understanding the contact dynamics of nonspherical particles beyond the microscale is crucial for accurately modeling colloidal and granular systems, where shape anisotropy dictates structural organization and transport properties. In this…
The adhesive behaviour of biological attachment structures such as spider web anchorages is usually studied using single or multiple peeling models involving "tapes", i.e. one-dimensional contacts elements. This is an oversimplification for…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Geometric graph models of systems as diverse as proteins, robots, and mechanical structures from DNA assemblies to architected materials point towards a unified way to represent and control them in space and time. While much work has been…
Given observations of a physical system, identifying the underlying non-linear governing equation is a fundamental task, necessary both for gaining understanding and generating deterministic future predictions. Of most practical relevance…
Understanding the complex interactions within dynamic multilayer networks is critical for advancements in various scientific domains. Existing models often fail to capture such networks' temporal and cross-layer dynamics. This paper…
We investigate dynamics of large scale and slow deformations of layered structures. Starting from the respective model equations for a non-conserved system, a conserved system and a binary fluid, we derive the interface equations which are…
We present a new apparatus that probes simultaneously the macroscopic mechanical response and the microscopic motion in polymer networks under uni-axial strain. The setup leverages photon correlation imaging, a space- and time-resolved…
Contact involving soft materials often combines dry adhesion, sliding friction, and large deformations. At the local level, these three aspects are rarely captured simultaneously, but included in the theoretical models by Mergel et al.…
Through mechanical forces, biological cells remodel the surrounding collagen network, generating striking deformation patterns. Tethers-tracts of high densification and fiber alignment-form between cells, thinner bands emanate from cell…
From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…
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…
The state-of-the-art deep neural networks (DNNs) have been widely applied for various real-world applications, and achieved significant performance for cognitive problems. However, the increment of DNNs' width and depth in architecture…
This paper provides a new avenue for exploiting deep neural networks to improve physics-based simulation. Specifically, we integrate the classic Lagrangian mechanics with a deep autoencoder to accelerate elastic simulation of deformable…