相关论文: Deformable Cargo Transport in Microgravity with As…

Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…

The quantum transport formalism based on tight-binding models is known to be powerful in dealing with a wide range of open physical systems subject to external driving forces but is, at the same time, limited by the memory requirement's…

Blind Descent uses constrained but, guided approach to learn the weights. The probability density function is non-zero in the infinite space of the dimension (case in point: Gaussians and normal probability distribution functions). In Blind…

An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We…

This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…

Multiscale simulation approaches are needed in order to address scientific and technological questions in the rapidly developing field of carbon nanotube electronics. In this paper, we describe an effort underway to develop a comprehensive…

We detail a platform for partial g environment and an experiment for simulated impacts on asteroid surfaces based on it. The partial g environment is created by a two stage approach: First, create microgravity using the ZARM drop tower.…

The optimization of low-thrust, multi-revolution orbit transfer trajectories is often regarded as a difficult problem in modern astrodynamics. In this paper, a flexible and computationally efficient approach is presented for the…

Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity…

The role and mitigation of space charge effects are important aspects of the beam physics research to be performed at the Integrable Optics Test Accelerator (IOTA) at Fermilab. The impact of nonlinear integrability (partial and complete) on…

The goal of this paper is to present the design and development of a low cost cargo transit system which can be adapted in developing countries like India where there is abundant and cheap human labour which makes the process of automation…

This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express…

Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing…

We show that transport in low-dimensional carbon structures with finite concentrations of scatterers can be modeled by utilising scaling theory and effective cross sections. Our reults are based on large scale numerical simulations of…

This paper investigates a swarm-based concept in which a number of nanosatellites, referred to as NanoTugs, are deployed by a mother spacecraft to capture and cooperatively stabilize and de-orbit space debris. The study focuses on the…

The paper revisits a Lyapunov-based feedback control to implement spacecraft orbital transfer maneuvers. The spacecraft equations of motion in the form of Gauss Variational Equations (GVEs) are used. By shaping the Lyapunov function using…

The design and analysis of pallet setups are essential for ensuring safety of packages transportation. With rising demands in the logistics sector, the development of automated systems utilizing advanced technologies has become increasingly…

Cell blebs are protrusions of the cell membrane and can be instrumental for cell migration. We derive a continuum model for the mechanical and geometrical aspects of the onset of blebbing in terms of a force balance. It is abstract and…

We discuss the current development of MC/DC (Monte Carlo Dynamic Code). MC/DC is primarily designed to serve as an exploratory Python-based MC transport code. However, it seeks to offer improved performance, massive scalability, and backend…

The paper considers the application of feedback control to orbital transfer maneuvers subject to constraints on the spacecraft thrust and on avoiding the collision with the primary body. Incremental reference governor (IRG) strategies are…