相关论文: FlexDelta: A flexure-based fully decoupled paralle…
Precise measurements of the frequency and phase of an electrical or optical signal play a key role in various branches of science and engineering. Tracking changing laser frequencies is especially demanding when the lasers themselves are…
The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected…
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismatic inverted pendulum model, we formulate a hybrid…
Mesogenic dimers in the twist-bend nematic phase exhibit much higher flexoelectric polarization than in their uniform nematic phase. In order to theoretically investigate this data, we extend the symmetry based linear elastic theory of the…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…
Transformer-based models are becoming deeper and larger recently. For better scalability, an underlying training solution in industry is to split billions of parameters (tensors) into many tasks and then run them across homogeneous…
A highly deformable rod, modelled as the extensible elastica, is connected to a movable clamp at one end and to a pin sliding along a frictionless curved profile at the other. Bifurcation analysis shows that axial compliance provides a…
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…
We present a novel randomized block coordinate descent method for the minimization of a convex composite objective function. The method uses (approximate) partial second-order (curvature) information, so that the algorithm performance is…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
Understanding cellular response to mechanical forces is immensely important for a plethora of biological processes. Focal adhesions are multi-molecular protein assemblies that connect the cell to the extracellular matrix and play a pivotal…
We investigate the ground state phase diagram of the S=1/2 two-leg $XXZ$ spin ladder system with an isotropic interchain coupling. In this model, there is the Berezinskii-Kosterlitz-Thouless transition which occurs at the XY-Haldane and the…
One of the defining characteristic of human being is their ability to walk upright. Loss or restriction of such ability whether due to the accident, spine problem, stroke or other neurological injuries can cause tremendous stress on the…
This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on the Tetra II concept, the end-effector is…
Emerging high-frequency accelerator technology in the terahertz regime is promising for the development of compact high-brightness accelerators and high resolution-power beam diagnostics. One resounding challenge when scaling to higher…
Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Existing nonlinear optimization-based…
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…
We study a new generalized version of the square-lattice frustrated XY model where unequal ferromagnetic and antiferromagnetic couplings are arranged in a zig-zag pattern. The ratio between the couplings $\rho$ can be used to tune the…
A multi-pole, multi-zero design allowed realizing a "true" phase-shifter (not time-delayer) of flat frequency-response over more than 3 decades (30Hz-100kHz), which can be extended to higher frequencies or broader bands thanks to a modular…