One main feature of metamaterials is the occurrence of a negative dynamic mass density that is produced when an inner local resonance is present. The inner resonance can be obtained in composite materials containing composite inclusions. For suitable ratios of the physical properties of the constituting materials, the composite inclusions act as spring-mass systems. The scaling of physical prop...

We investigate the dynamics of the vertically forced Duffing oscillator with suspended tuned mass absorber. Three different types of tuned mass absorbers are taken into consideration, i.e., classical single pendulum, dual pendulum and pendulum-spring. We numerically adjust parameters of absorbers to obtain the best damping properties with the lowest mass of attached system. The modification of ...

In this paper, we present a novel deformable model for soft tissue simulation in a real-time manner. The innovative model consists of two submodels: the surface one and the internal one, which are based on Mass-Spring system and Medial Representation respectively. This proposed model is more accurate and efficient than the pure surface Mass-Spring one by taking advantages of Medial Representati...

Virtual surgery simulators are an emerging training method for medical specialists. A number of techniques have previously been proposed for simulating tissue for these simulators, one of which is the mass-spring model. This paper aims to improve upon the perceived realism of virtual simulator systems by redesigning the underlying physics algorithms so that accurate simulations with full and sm...

This work investigates the tracking control problem for underactuated mechanical systems. To this end, we develop an extension of dynamic tube Model Predictive Control (MPC) approach by combining MPC design, ancillary energy shaping controller constructed with Interconnection and Damping Assignment Passivity-Based methodology, analytical expression tube. In addition, extend proposed including a...

Besides finite element method, mass-spring systems are widely used in Computer Graphics. It is indubitably the simplest and most intuitive deformable model. This discrete model allows to perform interactive deformations with ease and to handle complex interactions. Thus, it is perfectly adapted to generate visually plausible animations. However, a drawback of this simple formulation is the rela...

The medical training systems based on virtual simulation are highly desired since minimally invasive surgical techniques have become popular to patients. The training system helps surgeon trainees to acquire, practice and evaluate their surgical skills, and the key component of such a system is to simulate the dynamic procedure such as 3D biological tissue deformation in surgical operation. In ...

We present a reduced-order approach for robust, dynamic, and efficient bipedal locomotion control, culminating in 3D balancing and walking with ATRIAS, a heavily underactuated legged robot. These results are a development toward solving a number of enduring challenges in bipedal locomotion: achieving robust 3D gaits at various speeds and transitioning between them, all while minimally draining ...

This article describes a set of experiences in modeling dynamic systems using Genetic Programming and Gene Expression Programming. We have made experiments in linear systems, non-linear systems and times series. The experiments in linear systems include linear pendulum, coupled mass-spring, electrical circuits, etc. In non-linear systems we have modeled the Van der Pol Equation, non-linear pend...

In the paper, we develop an idea of interconnection of Dirac structures and their associated LagrangeDirac dynamical systems. First, we briefly review the LagrangeDirac dynamical systems (namely, implicit Lagrangian systems) associated to induced Dirac structures. Second, we describe an idea of interconnection of Dirac structures; namely, we show how two distinct Lagrange-Dirac systems can be i...