In the present work the pull-in voltage of a micro cracked cantilever beam subjected to nonlinear electrostatic pressure was studied. Two mathematical models were employed for modeling the problem: a lumped mass model and a classical beam model. The effect of crack in the lumped mass model is the reduction of the effective stiffness of the beam and in the beam model; the crack is modeled as a m...

In this letter, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a hierarchy in highest-level behaviors are planned through reduced-order models, the fundamental physics of locomotion, and lower level controllers utilize learned policy that can bridge gap between ide...

Spring-like leg behavior is found in both humans and animals when running. In a spring-mass model, running proves to be self-stable in terms of external perturbations or variations in leg properties (for example, landing angle). However, biological limbs are not made of springs, rather, they consist of segments where spring-like behavior can be localized at the joint level. Here, we use a two-s...

In this paper we present our initial work on simulating suturing using mass-spring models. Various models for simulating a suture were studied, and a simple linear mass-spring model was determined to give good performance. A novel model for pulling a suture through a deformable tissue model is presented. By connecting two separate tissues together by way of the suture, our model can simulate a ...

In this dissertation, simple models of legged locomotion are developed mainly following the hypothesis that rather than reflecting two distinct phenomena, the fundamental gait patterns of walking and running can be described within a single conceptual framework that is based on compliant limb behavior. In Chapter 1, the most prominent mechanical paradigms of walking and running, namely the stif...

More challenging active pharmaceutical ingredients are entering the market, spurring introduction of novel drug delivery strategies that necessitate a paradigm shift from exhausted excipients to materials with combined actions and multiple functionalities. In this study, an inorganic calcium phosphate microparticle hollow internal structure is introduced as biocompatible multifunctional microca...

u(t) c 1 2 k 3 m f c Abstract A preliminary study was conducted to investigate numerical models that can be used to simulate the dynamic behaviour of a damper based on magnetorheological (MR) materials. Several articles presenting the results of experimental testing and mathematical modelling have been published recently. The goal for this study was to implement a selected model into the finite...