In this paper, we extend the algorithm in Xue and Cheng [L. Xue, X.L. Cheng, An algorithm for solving the obstacle problems, Comput. Math. Appl. 48 (2004) 1651–1657] for solving the double obstacle problem. We try to find the approximated region of the contact in the double obstacle problem with less computation time by iteration. Numerical example is given for the double obstacle problem for t...

This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 50 % in a speed range from 0.3 to 2.3m/s using elastic couplings – mechanical springs with movement speed independent parameters. The considered robot consists of a trunk, two stiff legs and two actuators in the hip joints. It is modeled as underactuated system to make use of its natural dynami...

Probably the most promising way of detecting cosmic neutrinos is measuring the mechanical force exerted by elastic scattering of cosmic neutrinos from macroscopic targets. The expected acceleration is ∼ 10cm/s for Dirac neutrinos of mass ∼ 10 eV and local density ∼ 10/cm. A novel torsion balance design is presented, which addresses the sensitivity-limiting factors of existing balances, such as ...

We present a novel method to simulate bending and torsion of elastic rods within the position-based dynamics (PBD) framework. The main challenge is that torsion effects of Cosserat rods are described in terms of material frames which are attached to the centerline of the rod. But frames or orientations do not fit into the classical position-based dynamics formulation. To solve this problem we i...

The diversity in torque-controlled actuators has enabled researchers to address numerous physical human–robot interaction applications with enhanced safety, dependability, and capability [1] . Yet, only a few meet the challenging application requirements of mobility,...

The parallel alignment of stiff cellulose microfibrils in plant-cell walls mediates anisotropic growth. This is largely controlled by cortical microtubules, which drive the insertion and trajectory of the cellulose synthase (CESA) complex at the plasma membrane. The CESA interactive protein 1 (CSI1) acts as a physical linker between CESA and cortical microtubules. Here we show that the inflores...