相关论文: Lumped-Parameter Modeling and Control for Robotic …

We present a comprehensive theoretical and computational model that explores the behavior of a thin hydrated film bonded to a non-hydrated / impermeable soft substrate in the context of surface and bulk elasticity coupled with surface…

Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…

Diffusion-based visuomotor policies perform well in robotic manipulation, yet current methods still inherit image-generation-style decoders and multi-step sampling. We revisit this design from a frequency-domain perspective. Robot action…

We analyse and improve the volume-penalty method, a simple and versatile way to model objects in fluid flows. The volume-penalty method is a kind of fictitious-domain method that approximates no-slip boundary conditions with rapid linear…

This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…

A stable added-mass partitioned (AMP) algorithm is developed for fluid-structure interaction (FSI) problems involving viscous incompressible flow and compressible elastic solids. Deforming composite grids are used to effectively handle the…

We report the first high-order eddy-resolving simulation of flow over a marine propeller using a recently developed high-order sliding-mesh method. This method employs the flux reconstruction framework and a new dynamic curved mortar…

In this paper, we propose a new formulation and a suitable finite element method for the steady coupling of viscous flow in deformable porous media using divergence-conforming filtration fluxes. The proposed method is based on the use of…

The accurate and stable simulation of viscoelastic flows remains a significant computational challenge, exacerbated for flows in non-trivial and practical geometries. Here we present a new high-order meshless approach with variable…

A vanishing viscosity method is formulated for two-dimensional transonic steady irrotational compressible fluid flows with adiabatic constant $\gamma\in [1,3)$. This formulation allows a family of invariant regions in the phase plane for…

We propose a neural physics system for real-time, interactive fluid simulations. Traditional physics-based methods, while accurate, are computationally intensive and suffer from latency issues. Recent machine-learning methods reduce…

Dispersion of low-density rigid particles with complex geometries is ubiquitous in both natural and industrial environments. We show that while explicit methods for coupling the incompressible Navier-Stokes equations and Newton's equations…

We are concerned with the simulation and optimization of large-scale gas pipeline systems in an error-controlled environment. The gas flow dynamics is locally approximated by sufficiently accurate physical models taken from a hierarchy of…

Many physical systems of interest involve the close interaction of a flow in a domain with complex, time-varying boundaries. Treatment of boundaries of this nature is cumbersome due to the difficulty in explicitly tracking boundaries that…

Fluid flow in the transonic regime finds relevance in aerospace engineering, particularly in the design of commercial air transportation vehicles. Computational fluid dynamics models of transonic flow for aerospace applications are…

In this paper, we present an hp-adaptive hybrid Discontinuous Galerkin/Finite Volume method for simulating compressible, turbulent multi-component flows. Building on a previously established hp-adaptive strategy for hyperbolic gas- and…

We present a two-dimensional (2D) mathematical model of a highly concentrated suspension or a thin film of the rigid inclusions in an incompressible Newtonian fluid. Our objectives are two-fold: (i) to obtain all singular terms in the…

Suspension of particles in a fluid solvent are ubiquitous in nature, for example, water mixed with sugar or bacteria self-propelling through mucus. Particles create local flow perturbations that can modify drastically the effective…

Extrusion-based 3D printing of cementitious materials enables fabrication of complex structures, however it is highly sensitive to disturbances, material property variations, and process uncertainties that decrease flow stability and…

The current fabrication and assembly of fluidic circuits for soft robots relies heavily on manual processes; as the complexity of fluidic circuits increases, manual assembly becomes increasingly arduous, error-prone, and timeconsuming. We…