相关论文: Three Dimensional Nonlinear Dynamics of Slender St…
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…
We extend the theory of structured deformations to the setting of linearized elasticity by providing an integral representation for the underlying energy that features bulk and surface contributions. Our derivation is obtained both via a…
This article offers a new perspective for the mechanics of solids using moving Cartan's frame, specifically discussing a mixed variational principle in non-linear elasticity. We treat quantities defined on the co-tangent bundles of…
The study of slender elastic structures is an archetypical problem in continuum mechanics, dynamical systems and bifurcation theory, with a rich history dating back to Euler's seminal work in the 18th century. These filamentary elastic…
Slender beams are often employed as constituents in engineering materials and structures. Prior experiments on lattices of slender beams have highlighted their complex failure response, where the interplay between buckling and fracture…
We develop a continuum theory of linear viscoelastic response in oriented monodomain nematic elastomers. The expression for dissipation function is analogous to the Leslie-Ericksen version of anisotropic nematic viscosity; we propose the…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…
We address the motion planning problem for large multi-agent systems, utilizing Cosserat rod theory to model the dynamic behavior of vehicle formations. The problem is formulated as an optimal control problem over partial differential…
Even though Non-rigid Structure-from-Motion (NRSfM) has been extensively studied and great progress has been made, there are still key challenges that hinder their broad real-world applications: 1) the inherent motion/rotation ambiguity…
A geometrically nonlinear sandwich beam model founded on the modified couple stress Timoshenko beam theory with K\'arm\'an kinematics is derived and employed in the analysis of periodic sandwich structures. The constitutive model is based…
We present a methodology to simulate the mechanics of knots in elastic rods using geometrically nonlinear, full three-dimensional (3D) finite element analysis. We focus on the mechanical behavior of knots in tight configurations, for which…
In the one-dimensional isothermal case, we introduce a simple model of nonlinear viscoelasticity within the Rational Extended Thermodynamics (RET) framework. The differential system is determined by the universal principles of RET,…
It is shown that the kinematic system describing planar non-steady motions of ideal fibre-reinforced fluids may be reduced to a single two-dimensional third-order partial differential equation in which time enters parametrically. A…
Soft, slender structures are ubiquitous in natural and engineered systems, with broad application potential from biomimetic materials to soft robotics. However, there is a notable lack of computational tools that simultaneously preserve…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
In this paper, we investigate the dynamics of radial solutions at threshold energy for a 3-component Schr\"{o}dinger system with cubic nonlinearity in four dimensions. The main difference from the cases previously addressed in the…
An energy-based modeling framework for the nonlinear dynamics of spatial Cosserat rods undergoing large displacements and rotations is proposed. The mixed formulation features independent displacement, velocity and stress variables and is…
This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity…
The development of a nonlinear structural theory (model) for isotropic linear-elastic finite continua is the main objective of the study. To derive the theory, we used Taylor's multivariable expansion and Bubnov-Galerkin's weak formulation.…
We consider a quasistatic nonlinear model in thermoviscoelasticity at a finite-strain setting in the Kelvin-Voigt rheology where both the elastic and viscous stress tensors comply with the principle of frame indifference under rotations.…