相关论文: Buoyancy enabled autonomous underwater constructio…
Context: Bouncing collisions of dust aggregates within the protoplanetary may have a significant impact on the growth process of planetesimals. Yet, the conditions that result in bouncing are not very well understood. Existing simulations…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
We introduce a closure model for wall-modeled large-eddy simulation (WMLES), referred to as the Building-block Flow Model (BFM). The foundation of the model rests on the premise that a finite collection of simple flows encapsulates the…
We present an innovative robotic device designed to provide controlled motion for studying active matter. Motion is driven by an internal vibrator powered by a small rechargeable battery. The system integrates acoustic and magnetic sensors…
A key feature of mechanical structures ranging from crumple zones in cars to padding in packaging is their ability to provide protection by absorbing mechanical energy. Designing structures to efficiently meet these needs has profound…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Synthetic active collectives, composed of many nonliving individuals capable of cooperative changes in group shape and dynamics, hold promise for practical applications and for the elucidation of guiding principles of natural collectives.…
We design a vehicle with a steering system made of two independently rotatable wheels on the front. We quantify the effectiveness of the steering system in the mobility and maneuverability of the vehicle running in a box containing a layer…
Structural stability is a necessary condition for successful construction of an assembly. However, designing a stable assembly requires a non-trivial effort since a slight variation in the design could significantly affect the structural…
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
Robots are integrating more huge-size models to enrich functions and improve accuracy, which leads to out-of-control computing pressure. And thus robots are encountering bottlenecks in computing power and battery capacity. Fog or cloud…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
Application of performance-based design (PBD) in earthquake geotechnical design codes has been gaining attention for the past decade. Strong vibrations (e.g., earthquake loading) may generate an uplift or a partial separation of shallow…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Liquid simulations for computer animation often avoid simulating the air phase to reduce computational costs and ensure good conditioning of the linear systems required to enforce incompressibility. However, this free surface assumption…
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration.…