Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address...

Metocean criteria for internal solitary waves obtained from numerical models

A numerical model in slice configuration was applied to the Central Andaman Sea in order to derive metocean operational and design criteria associated to internal solitary waves which are large amplitude interfacial waves. For that purpose, a 10 year hindcast was generated. The model was driven by tides at the open boundary and included...

Analysis of the mechanical properties of a fibreglass reinforced flexible pipe (FGRFP)

Fibreglass reinforced flexible pipe (FGRFP) is a kind of composite thermoplastic pipe serving as a preferred application in the field of oil transportation. This paper studies the mechanical behaviour of FGRFPs under pure bending by experimental, numerical and theoretical methods. Full-scale four-point bending tests are conducted and the...

A Fourier-Based Valuation Method for Bermudan and Barrier Options under Heston’s Model

We develop an efficient Fourier-based numerical method for pricing Bermudan and discretely monitored barrier options under the Heston stochastic volatility model. The two-dimensional pricing problem is dealt with by a combination of a Fourier cosine series expansion, as in [F. Fang and C.W. Oosterlee, SIAM J. Sci. Comput., 31 (2008), pp. 826–848...