We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimmin...

Multi-qubit systems are crucial for the advancement and application of quantum science. Such systems require maintaining long coherence times while increasing the number of qubits available for coherent manipulation. For solid-state spin systems, qubit coherence is closely related to fundamental questions of many-body spin dynamics...

ESA and NASA renewed interest on missions to Europa, Ganymede and Titan poses the question on how to best solve the Endgame problem. Endgames typically aim at a cheap insertion maneuver into the science orbit, and can be designed using either Vinfinity Leveraging Maneuvers (VILMs) or the Multi-Body dynamics. Although historically linked to insertion maneuvers, the endgame problem is symmetric a...

many real time processes have complex, uncertain and nonlinear dynamics. boilers are nonlinear, time varying, multi-input multi-output (mimo) systems, whose states generally vary with operating conditions. the major problem in controlling that system is that its drum water pressure and steam flow dynamics include an integrator that results a critically stable behavior. conventional controller p...

Abstract. To absorb the vibration of car body high-speed train in multiple degrees freedom, a multi-degree freedom dynamic absorber (MDOF DVA) is proposed. Installed under body, natural frequency MDOF DVA from each DOF can be designed as for every single degree body. Hence, 12-DOF model including main system and an established, principle Multi-DOF absorption analyzed by combining design method ...

Project work present rigid multi body dynamic analysis approach in design. The application of this methodology simplify design process and give correct result. For the case study here work of design done on Ackerman steering mechanism for tipper. In this first according to Ackerman conditions basic geometry is design and then optimize it for static loading, modal analysis and then for dynamic f...

This contribution discusses a multi-physics simulation engine, called Chrono, that relies heavily on parallel computing. Chrono aims at simulating the dynamics of systems containing rigid bodies, flexible (compliant) bodies, and fluid-rigid body interaction. To this end, it relies on five modules: equation formulation (modeling), equation solution (simulation), collision detection support, doma...

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that rep...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

The main features of coupled-channel K̄N dynamics near threshold and its repercussions in few-body K̄-nuclear systems are briefly reviewed highlighting the I = 1/2 K̄NN system. For heavier nuclei, the extension of mean-field calculations to multi-K̄ nuclear quasibound states is discussed focusing on kaon condensation.