Rigid foldability and mountain-valley crease assignments of square-twist origami pattern

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Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

The flywheel is a widespread mechanical component used for the storage of kinetic energy and angular momentum. It typically consists of cylindrical inertia rotating about its axis on rolling bearings, which involves undesired friction, lubrication, and wea ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Soil contamination by petroleum hydrocarbons (PHCs) causes various acute problems such as crop growth, yield, and grain quality. Many Physico-chemical and biological approaches are employed to remove the PHCs from polluted soil. However, some of these appr ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

The rapid progress in the field of deep learning has had a significant impact on protein design. Deep learning methods have recently produced a breakthrough in protein structure prediction, leading to the availability of high-quality models for millions of ...

De novo protein design enhances our understanding of the principles that govern protein folding and interactions, and has the potential to revolutionize biotechnology through the engineering of novel protein functionalities. Despite recent progress in comp ...

Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

Utterance-level intent detection and token-level slot filling are two key tasks for spoken language understanding (SLU) in task-oriented systems. Most existing approaches assume that only a single intent exists in an utterance. However, there are often mul ...

Domain generalization (DG) tackles the problem of learning a model that generalizes to data drawn from a target domain that was unseen during training. A major trend in this area consists of learning a domain-invariant representation by minimizing the disc ...

While metasurfaces (MSs) are constructed from deeply subwavelength unit cells, they are generally electrically large and full-wave simulations of the complete structure are computationally expensive. Thus, to reduce this high computational cost, nonuniform ...

Rigid foldability and mountain-valley crease assignments of square-twist origami pattern

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Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n-RRR Planar Parallel Mechanisms

Design of a Flexure-Based Flywheel for the Storage of Angular Momentum and Kinetic Energy

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Microbial electrochemical bioremediation of petroleum hydrocarbons (PHCs) pollution: Recent advances and outlook

Exploration-based model learning with self-attention for risk-sensitive robot control

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Implicit Distance Functions: Learning and Applications in Robotics

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

C-shells: Deployable Gridshells with Curved Beams

Zero Parasitic Shift Pivoting Kinematic Structures Based On Coupled N-RRR Planar Parallel Mechanisms For Flexure Pivot Design

A new age in protein design empowered by deep learning

De novo protein design by inversion of the AlphaFold structure prediction network

Dynamic Modeling of an Origami Prismatic Joint

Slim: Explicit Slot-Intent Mapping With Bert For Joint Multi-Intent Detection And Slot Filling

Contrastive Class-aware Adaptation for Domain Generalization

Surface Susceptibilities as Characteristic Models of Reflective Metasurfaces