相关论文: Flatness-based motion planning for a non-uniform m…

In the dynamics of linear structures, the impulse response function is of fundamental interest. In some cases one examines the short term response wherein the disturbance is still local and the boundaries have not yet come into play, and…

We demonstrate an all-optical method for controlling the transverse motion of ionization injected electron beam, by utilizing the transversely asymmetrical wakefield via adjusting the shape of the laser focal spot. When the laser spot shape…

Accelerating beams are wave packets which appear to spontaneously accelerate without external potentials or applied forces. Since their first physical realisation in the form of Airy beams, they have found applications on various platforms,…

We demonstrate that periodic modulation of the nonlinearity coefficient in the discrete nonlinear Schr\"{o}dinger (DNLS) equation can strongly facilitate creation of traveling solitons in the lattice. We predict this possibility in an…

The paper extends the formulation of a 2D geometrically exact beam element proposed in our previous paper [1] to curved elastic beams. This formulation is based on equilibrium equations in their integrated form, combined with the kinematic…

In this paper we discuss the motion of a beam in interaction with fluids. We allow the beam to move freely in all coordinate directions. We consider the case of a beam situated in between two different fluids as well as the case where the…

Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…

Many problems in electrical engineering or fluid mechanics can be modeled by parabolic-elliptic interface problems, where the domain for the exterior elliptic problem might be unbounded. A possibility to solve this class of problems…

Integrated task and motion planning problems describe a multi-modal state space, which is often abstracted as a set of smooth manifolds that are connected via sets of transitions states. One approach to solving such problems is to sample…

Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…

A hybrid framework integrating the Virtual Element Method (VEM) with deep learning is presented as an initial step toward developing efficient and flexible numerical models for one-dimensional Euler-Bernoulli beams. The primary aim is to…

Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…

The interaction of flexible structures with viscoelastic flows can result in very rich dynamics. In this paper, we present the results of the interactions between the flow of a viscoelastic polymer solution and a cantilevered beam in a…

In this work we aim to mimic the human ability to acquire the intuition to estimate the performance of a design from visual inspection and experience alone. We study the ability of convolutional neural networks to predict static and dynamic…

A recent large deflection cantilever model is considered. The principal nonlinear effects come through the beam's inextensibility---local arc length preservation---rather than traditional extensible effects attributed to fully restricted…

Designing smart devices with tunable shapes has important applications in industrial manufacture. In this paper, we investigate the nonlinear deformation and the morphological transitions between buckling, necking, and snap-through…

We consider three-dimensional elastic frames constructed out of Euler-Bernoulli beams and describe extension of matching conditions by relaxing the vertex-rigidity assumption and the case in which concentrated mass may exists. This…

As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach to significantly reduce the complexity of solving optimal…

The objective of this work is the development of a novel finite element formulation describing the contact interaction of slender beams in complex 3D configurations involving arbitrary beam-to-beam orientations. It is shown in a…

We consider the finite horizon optimal steering of the joint state probability distribution subject to the angular velocity dynamics governed by the Euler equation. The problem and its solution amounts to controlling the spin of a rigid…