相关论文: Three Dimensional Nonlinear Dynamics of Slender St…

The sliding columnar phase is a new liquid-crystalline phase of matter composed of two-dimensional smectic lattices stacked one on top of the other. This phase is characterized by strong orientational but weak positional correlations…

A homogeneous elastic solid, bounded by a flat surface in its unstressed configuration, undergoes a finite strain when in frictionless contact against a rigid and rectilinear constraint, ending with a rounded or sharp corner, in a…

This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…

Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…

We study the three-dimensional transport theory of massive spin-1/2 fermions resulting from the vorticity dependent quantum kinetic equation. This quantum kinetic equation has been introduced to take account of noninertial properties of…

We propose a novel approach to model viscoelasticity materials using neural networks, which capture rate-dependent and nonlinear constitutive relations. However, inputs and outputs of the neural networks are not directly observable, and…

This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…

In this work we propose and analyze a novel Hybrid High-Order discretization of a class of (linear and) nonlinear elasticity models in the small deformation regime which are of common use in solid mechanics. The proposed method is valid in…

Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…

This contribution aims at introducing first steps to develop hysteresis operator type inelastic constitutive laws for Cosserat rods for the simulation of cables composed of complex interior components. Motivated by the basic elements of…

This study presents a fractional-order continuum mechanics approach that allows combining selected characteristics of nonlocal elasticity, typical of classical integral and gradient formulations, under a single frame-invariant framework.…

We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the…

Large deformations play a central role in the shape transformations of slender active and biological structures. A classical example is the eversion of the Volvox embryo, which demonstrates the need for shell theories that can describe…

We develop a variationally consistent mesoscopic extension of Cosserat elasticity motivated by the breakdown of compatibility in classical formulations. By admitting compatibility-breaking perturbations, the classical theory ceases to…

The Discrete elastic rod method (Bergou et al., 2008) is a numerical method for simulating slender elastic bodies. It works by representing the center-line as a polygonal chain, attaching two perpendicular directors to each segment, and…

We present a unified classical treatment of partially constrained elastic rods. Partial constraints often entail singularities in both shapes and reactions. Our approach encompasses both sleeve and adhesion problems, and provides simple and…

We apply a quasistatic nonlinear model for nonsimple viscoelastic materials at a finite-strain setting in the Kelvin's-Voigt's rheology to derive a viscoelastic plate model of von K\'arm\'an type. We start from time-discrete solutions to a…

Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…

This paper is devoted to describe the asymptotic behavior of a structure made by a thin plate and a thin rod in the framework of nonlinear elasticity. We scale the applied forces in such a way that the level of the total elastic energy…

We introduce a data-driven order reduction method for nonlinear control systems, drawing on recent progress in machine learning and statistical dimensionality reduction. The method rests on the assumption that the nonlinear system behaves…