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Steeneken, P.G. (author)Motion is all around us, the universe is full of moving matter and this motion is surprisingly predictable. The field of science and engineering that studies time-dependent motion in the presence of forces is called Dynamics. In this book we will introduce the core concepts in dynamics and provide a comprehensive toolset to predict and analyse...book 2024
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Pustina, P. (author), Della Santina, C. (author), Boyer, Frederic (author), De Luca, Alessandro (author), Renda, Federico (author)Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? We not only show that the...journal article 2024
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Fayolle-Chambe, M.S. (author), Dirkx, D. (author), Cimo, G. (author), Gurvits, L. (author), Lainey, V. (author), Visser, P.N.A.M. (author)In the coming decade, JUICE and Europa Clipper radio-science will yield the most accurate estimation to date of the Galilean moons’ physical parameters and ephemerides. JUICE's PRIDE (Planetary Radio Interferometry and Doppler Experiment) will help achieve such a solution by providing VLBI (Very Long Baseline Interferometry) observations of...journal article 2024
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Spahn, M. (author), Wisse, M. (author), Alonso-Mora, J. (author)Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show...journal article 2023
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Fletcher, Leigh N. (author), Cavalié, Thibault (author), Grassi, Davide (author), Hueso, Ricardo (author), Lara, Luisa M. (author), Kaspi, Yohai (author), Galanti, Eli (author), Gurvits, L. (author), Cazaux, S.M. (author)ESA’s Jupiter Icy Moons Explorer (JUICE) will provide a detailed investigation of the Jovian system in the 2030s, combining a suite of state-of-the-art instruments with an orbital tour tailored to maximise observing opportunities. We review the Jupiter science enabled by the JUICE mission, building on the legacy of discoveries from the...review 2023
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Kementzetzidis, Evangelos (author), Pisano, F. (author), Elkadi, A.S.K. (author), Tsouvalas, A. (author), Metrikine, A. (author)Gentle Driving of Piles (GDP) is a new technology for the vibratory installation of tubular (mono)piles. Its founding principle is that both efficient installation and low noise emission can be achieved by applying to the pile a combination of axial and torsional vibrations. Preliminary development and demonstration of the proposed technology...journal article 2023
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Tsetas, A. (author), Tsouvalas, A. (author), Sánchez Gómez, S. (author), Pisano, F. (author), Kementzetzidis, Evangelos (author), Molenkamp, T. (author), Elkadi, A.S.K. (author), Metrikine, A. (author)Gentle Driving of Piles (GDP) is a new technology for the vibratory installation of tubular (mono)piles. Its founding principle is that both efficient installation and low noise emission can be achieved by applying to the pile a combination of axial and torsional vibrations. Preliminary development and demonstration of the proposed technology...journal article 2023
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Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative LearningDing, J. (author), Sels, Mees A.van Loben (author), Angelini, Franco (author), Kober, J. (author), Della Santina, C. (author)Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the...journal article 2023
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de Jong, M.H.J. (author)This thesis comprises several experiments involving silicon nitride trampoline membranes. These membranes are excellent mechanical resonators and can be fabricated with desirable optical properties. Their dynamical behavior, particularly the interaction of their mechanical motion with light, is of interest for optomechanics and sensing...doctoral thesis 2022
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Tieleman, O.C. (author)Flood gates form an essential part of many flood defence systems in coastal areas. During storm events, these gates are subjected to extreme loads from various sources. This dissertation addresses the dynamic behaviour of flood gates induced by wave impacts. A semi-analytical fluid-structure interaction model is developed to predict vertical...doctoral thesis 2022
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Roth, M. (author), Stapel, J.C.J. (author), Happee, R. (author), Gavrila, D. (author)We present a novel method for vehicle-pedestrian path prediction that takes into account the awareness of the driver and the pedestrian towards each other. The method jointly models the paths of vehicle and pedestrian within a single Dynamic Bayesian Network (DBN). In this DBN, sub-graphs model the environment and entity-specific context cues...journal article 2022
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Bjelonic, Filip (author), Sachtler, Arne (author), Albu-Schaffer, Alin (author), Della Santina, C. (author)Adding elastic elements to the mechanical structure should enable robots to perform efficient oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a challenge in itself, which nonlinear modal theory promises to solve. Therein eigenmanifolds generalize eigenspaces to mechanical systems with non-Euclidean...journal article 2022
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author), Sakka, Monzer Al (author), Dhaens, Miguel (author)The benefits of automated driving can only be fully realized if the occupants are protected from motion sickness. Active suspensions hold the potential to raise the comfort level in automated passenger vehicles by enabling new functionalities in chassis control. One example is to actively lean the vehicle body toward the center of the corner...journal article 2022
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Rommers, J. (author), Naves, M. (author), Brouwer, D. M. (author), Herder, J.L. (author)In this study, a flexure-based (compliant) linear guide with a motion range comparable to its footprint is presented. The design consists of two-folded leaf springs on which torsion reinforcement structures are added. Due to these structures, only two-folded leaf springs are needed instead of a minimum of five as in preexisting designs. The...journal article 2022
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de Vries, J.M. (author), Trevisan, E. (author), van der Toorn, J. (author), Das, T. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive...conference paper 2022
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van Haren, Max (author), Poot, Maurice (author), Portegies, Jim (author), Oomen, T.A.E. (author)Mechatronic systems have increasingly high performance requirements for motion control. The low-frequency contribution of the flexible dynamics, i.e., the compliance, should be compensated for by means of snap feedforward to achieve high accuracy. Position-dependent compliance, which often occurs in motion systems, requires the snap feedforward...conference paper 2022
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Mészáros, A. (author), Franzese, G. (author), Kober, J. (author)This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even slightly flawed, particularly at moments when multiple aspects (i.e., end-effector movement,...journal article 2022
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Montano, V. (author)The work exposed in this thesis addresses two main scientific challenges in the field of intrinsic self-healing polymers that limit the translation of the academic research efforts into commercial products, namely: i) the implementation of the self-healing functionality in polymer commodities by minimal chemical modifications; and ii) the...doctoral thesis 2021
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Gabriel Guedes da Silva, L. (author)Cells are complex systems continuously exposed to changing, dynamic environments. Understanding how cells respond and adapt is of great interest not only from a fundamental viewpoint but also for the development of solutions for current challenges in medical, industrial and environmental research fields.<br/><br/>In this thesis, the bacterial...doctoral thesis 2021
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Pool, E.A.I. (author), Kooij, J.F.P. (author), Gavrila, D. (author)This paper compares two models for context-based path prediction of objects with switching dynamics: a Dynamic Bayesian Network (DBN) and a Recurrent Neural Network (RNN). These models are instances of two larger model categories, distinguished by whether expert knowledge is explicitly crafted into the state representation (and thus is...journal article 2021