相关论文: A Degree of Flowability for Virtual Tubes

This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and…

This paper aims to measure the efficiency of urban street networks (a kind of complex networks) from the perspective of the multidimensional chain of connectivity (or flow). More specifically, we define two quantities: flow dimension and…

Deep Neural Networks (DNNs) are powerful tools that have shown extraordinary results in many scenarios, ranging from pattern recognition to complex robotic problems. However, their intricate designs and lack of transparency raise safety…

In a companion study \cite{patterson2020computing2D}, we present a numerical method for simulating 2D viscous flow through an open compliant closed channel, drive by pressure gradient. We consider the highly viscous regime, where fluid…

Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…

We derive from first principles a three-dimensional theory of self-propelled particle swarming in a viscous fluid environment. Our model predicts emergent collective behavior that depends critically on fluid opacity, mechanism of…

The vaporization of a freely moving drop in a uniform, high-temperature gas stream is investigated through direct numerical simulation. The incompressible Navier-Stokes equations with surface tension and phase change are solved in…

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…

This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…

This paper presents one approach in designing a Fire Fighting Robot which has been contested annually in a robotic student competition in many countries following the rules initiated at the Trinity College. The approach makes use of…

A flow control system is a critical concept for increasing the production capacity of manufacturing systems. To solve the scheduling optimization problem related to the flow control with the aim of improving productivity, existing methods…

We propose and validate a novel experimental technique to measure two-point statistics of turbulent flows. It consists in spreading rigid fibers in the flow and tracking their position and orientation in time and therefore been named…

Parasitic currents still pose a significant challenge for the investigation of two-phase flow in Lab-on-Chip (LoC) applications with Volume-of-Fluid (VoF) simulations. To counter the impact of such spurious velocity fields in the vicinity…

Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the…

Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. However, their computationally expensive inference, due to the…

This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we…

In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots…

Turbulent puffs are ubiquitous in everyday life phenomena. Understanding their dynamics is important in a variety of situations ranging from industrial processes to pure and applied science. In all these fields, a deep knowledge of the…

Crashing ocean waves, cappuccino froths and microfluidic bubble crystals are examples of foamy flows. Foamy flows are critical in numerous natural and industrial processes and remain notoriously difficult to compute as they involve coupled,…

We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…