相关论文: Nonlinear Dynamic Modeling of a Tether-net System …
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
Active nematic systems consist of rod-like internally driven subunits that interact with one another to form large-scale coherent flows. They are important examples of far-from-equilibrium fluids, which exhibit a wealth of nonlinear…
As deep learning gains popularity in modelling dynamical systems, we expose an underappreciated misunderstanding relevant to modelling dynamics on networks. Strongly influenced by graph neural networks, latent vertex embeddings are…
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topological integrity during contact-rich…
Strongly correlated layered 2D systems are of central importance in condensed matter physics, but their numerical study is very challenging. Motivated by the enormous successes of tensor networks for 1D and 2D systems, we develop an…
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact…
A dynamical classification of the cosmic web is proposed. The large scale environment is classified into four web types: voids, sheets, filaments and knots. The classification is based on the evaluation of the deformation tensor, i.e. the…
We study the mechanics of a reversible decohesion (unzipping) of an elastic layer subjected to quasi-static end-point loading. At the micro level the system is simulated by an elastic chain of particles interacting with a rigid foundation…
In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…
Accurate and efficient aeroelastic models are critically important for enabling the optimization and control of highly flexible aerospace structures, which are expected to become pervasive in future transportation and energy systems.…
This study investigates the application of deep residual networks for predicting the dynamics of interacting three-dimensional rigid bodies. We present a framework combining a 3D physics simulator implemented in C++ with a deep learning…
Human-robot co-manipulation of soft materials, such as fabrics, composites, and sheets of paper/cardboard, is a challenging operation that presents several relevant industrial applications. Estimating the deformation state of the…
Flexible filaments and fibres are essential components of important complex fluids that appear in many biological and industrial settings. Direct simulations of these systems that capture the motion and deformation of many immersed…
We present the identification of the non-linear dynamics of a novel hovercraft design, employing end-to-end deep learning techniques. Our experimental setup consists of a hovercraft propelled by racing drone propellers mounted on a…
Real-time simulation of elastic structures is essential in many applications, from computer-guided surgical interventions to interactive design in mechanical engineering. The Finite Element Method is often used as the numerical method of…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Flexible spacecraft structures present significant challenges for physical and control system design due to nonlinear dynamics, mission constraints, environmental variables, and changing operational conditions. This paper presents a…
This paper presents a sequence of two approaches for the data-driven control-oriented modeling of networked systems, i.e., the systems that involve many interacting dynamical components. First, a novel deep learning approach named the weak…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…