arXiv subjects

Huiling Duan

Publications and source records attributed to Huiling Duan.

13 recordsLinked to original sources

arXiv2025

An exact dimension-reduced dynamic theory for developable surfaces and curve-fold origami

Curve-fold origami, composed of developable panels joined along a curved crease, exhibits rich dynamic behaviors relevant to metamaterials and soft robotic systems. Despite multiple approximated models, a comprehensive and exact dynamical theory for curve-fold origami remains absent, limiting the precise predictions of its dynamics, especially for those with wide panels. In this work, we develop an exact dimension-reduced theory that focuses on the dynamics of curve-fold origami, utilizing the intrinsic one-dimensional nature of developable surfaces. Starting from a single developable surface, we investigate the kinematics and kinetic energy of a moving developable surface. By overcoming the difficulty of describing the motion of local frames, we derive the exact velocity field of wide surfaces solely described by the motion of the reference curve, which leads to the kinetic energy of the entire surface. Owing to the one-dimensional feature, the Lagrangian of the system, composed of both kinetic and elastic energy, is a functional of the reference curve. Thus, we may variate the Lagrangian and derive a nonlinear dynamical theory for the reference curve, which comprises governing equations similar to the rod model but can precisely describe the motion of developable surfaces. The theory is validated consistently in both Lagrangian and Eulerian frameworks and is further extended to curved-fold origami modeled as a coupled bi-rod system. Utilizing our exact 1D model, we theoretically analyze the dynamical behaviors of various developable structures, revealing that the coupling of curvature and torsion along with the motion of local frames in our theory leads to the accurate modeling of arbitrarily deformed developable surfaces, which are validated by finite element analysis quantitatively.

cond-mat.soft↗

arXiv2025

MSNav: Zero-Shot Vision-and-Language Navigation with Dynamic Memory and LLM Spatial Reasoning

Vision-and-Language Navigation (VLN) requires an agent to interpret natural language instructions and navigate complex environments. Current approaches often adopt a "black-box" paradigm, where a single Large Language Model (LLM) makes end-to-end decisions. However, it is plagued by critical vulnerabilities, including poor spatial reasoning, weak cross-modal grounding, and memory overload in long-horizon tasks. To systematically address these issues, we propose Memory Spatial Navigation(MSNav), a framework that fuses three modules into a synergistic architecture, which transforms fragile inference into a robust, integrated intelligence. MSNav integrates three modules: Memory Module, a dynamic map memory module that tackles memory overload through selective node pruning, enhancing long-range exploration; Spatial Module, a module for spatial reasoning and object relationship inference that improves endpoint recognition; and Decision Module, a module using LLM-based path planning to execute robust actions. Powering Spatial Module, we also introduce an Instruction-Object-Space (I-O-S) dataset and fine-tune the Qwen3-4B model into Qwen-Spatial (Qwen-Sp), which outperforms leading commercial LLMs in object list extraction, achieving higher F1 and NDCG scores on the I-O-S test set. Extensive experiments on the Room-to-Room (R2R) and REVERIE datasets demonstrate MSNav's state-of-the-art performance with significant improvements in Success Rate (SR) and Success weighted by Path Length (SPL).

cs.CV↗

arXiv2025

TTF-VLA: Temporal Token Fusion via Pixel-Attention Integration for Vision-Language-Action Models

Vision-Language-Action (VLA) models process visual inputs independently at each timestep, discarding valuable temporal information inherent in robotic manipulation tasks. This frame-by-frame processing makes models vulnerable to visual noise while ignoring the substantial coherence between consecutive frames in manipulation sequences. We propose Temporal Token Fusion (TTF), a training-free approach that intelligently integrates historical and current visual representations to enhance VLA inference quality. Our method employs dual-dimension detection combining efficient grayscale pixel difference analysis with attention-based semantic relevance assessment, enabling selective temporal token fusion through hard fusion strategies and keyframe anchoring to prevent error accumulation. Comprehensive experiments across LIBERO, SimplerEnv, and real robot tasks demonstrate consistent improvements: 4.0 percentage points average on LIBERO (72.4\% vs 68.4\% baseline), cross-environment validation on SimplerEnv (4.8\% relative improvement), and 8.7\% relative improvement on real robot tasks. Our approach proves model-agnostic, working across OpenVLA and VLA-Cache architectures. Notably, TTF reveals that selective Query matrix reuse in attention mechanisms enhances rather than compromises performance, suggesting promising directions for direct KQV matrix reuse strategies that achieve computational acceleration while improving task success rates.

cs.CV↗

arXiv2025

Temporal refraction and reflection in modulated mechanical metabeams: theory and physical observation

Wave reflection and refraction at a time interface follow different conservation laws compared to conventional scattering at a spatial interface. This study presents the experimental demonstration of refraction and reflection of flexural waves across a temporal boundary in a continuum based mechanical metabeam, and unveils opportunities that emerge by tailoring temporal scattering phenomena for phononic applications. We observe these phenomena in an elastic beam attached to an array of piezoelectric patches that can vary in time the effective elastic properties of the beam. Frequency conversion and phase conjugation are observed upon a single temporal interface. These results are consistent with the temporal Snell law and Fresnel equations for temporal interfaces. Further, we illustrate the manipulation of amplitude and frequency spectra of flexural wave temporal refraction and reflection through multi stepped temporal interfaces. Finally, by implementing a smooth time variation of wave impedance, we numerically and experimentally demonstrate the capabilities of the temporal metabeam to realize waveform morphing and information coding. Our findings lay the foundation for developing time mechanical metamaterials and time phononic crystals, offering new avenues for advanced phonon manipulation in both wave amplitude and frequency

physics.optics↗

arXiv2024

A new class of higher-order topological insulators that localize energy at arbitrary multiple sites

$\mathbb{Z}$-classified topological phases lead to larger-than-unity topological states. However, these multiple topological states are only localized at the corners in nonlocal systems. Here, first, we rigorously prove that the multiple topological states of nonlocal Su-Schrieffer-Heeger (SSH) chains can be inherited and realized by local aperiodic chains with only the nearest couplings. Then, we report a new class of higher-order topological insulators constructed with the local aperiodic chains, which can have any integer number of 0D topological states localized at arbitrary positions in the whole domain of the insulators, including within the bulk. The 0D topological states are protected by the local topological marker in each direction, instead of the bulk multipole chiral numbers in the existing work. Our work provides multiple combinations of localized corner-bulk topological states, which enables programmable lasers and sasers by selecting the excitation sites without altering the structure, and thus opens a new avenue to signal enhancement for computing and sensing.

cond-mat.mes-hall↗

arXiv2024

A generalized geometric mechanics theory for multi-curve-fold origami: vertex constrained universal configurations

Folding paper along curves leads to spatial structures that have curved surfaces meeting at spatial creases, defined as curve-fold origami. In this work, we provide an Eulerian framework focusing on the mechanics of arbitrary curve-fold origami, especially for multi-curve-fold origami with vertices. We start with single-curve-fold origami that has wide panels. Wide panel leads to different domains of mechanical responses induced by various generator distributions of the curved surface. The theories are then extended to multi-curve-fold origami, involving additional geometric correlations between creases. As an illustrative example, the deformation and equilibrium configuration of origami with annular creases are studied both theoretically and numerically. Afterward, single-vertex curved origami theory is studied as a special type of multi-curve-fold origami. We find that the extra periodicity at the vertex strongly constrains the configuration space, leading to a region near the vertex that has a striking universal equilibrium configuration regardless of the mechanical properties. Both theories and numerics confirm the existence of the universality in the near-field region. In addition, the far-field deformation is obtained via energy minimization and validated by finite element analysis. Our generalized multi-curve-fold origami theory, including the vertex-contained universality, is anticipated to provide a new understanding and framework for the shape programming of the curved fold origami system.

cond-mat.soft↗

arXiv2023

An effective slip boundary for micro-structured surfaces containing a second immiscible fluid

Effective slip boundary conditions for flows over periodic micro-structured surfaces containing a secondary immiscible fluid are derived. The primary fluid is in the Cassie state, while the geometries of the micro-structures can be arbitrary. We investigate the impact of the second immiscible fluid on external flow, introducing the effect caused by the viscosity difference between two fluids and the inertia effect of the second fluid into classic Navier slip condition. The effective slip length obtained from our theory for flows over rectangular micro-structures is in good agreement with prior analytical findings. We also apply the theory to mushroom-like micro-structures. The derived effective slip velocity also matches well with two-phase numerical simulations. Implementing the slip boundary conditions on micro-structured surfaces produces external flow fields that are aligned well with the simulation results. Employing a multi-scale homogenization method, we dispose of two-phase flows characterized by strong coupling at the fluid-fluid interface. By introducing the framework of lid-driven cavity approximation, our theory finds practical applications across various scenarios.

physics.flu-dyn↗

arXiv2021

Theorem on the Compatibility of Spherical Kirigami Tessellations

We present a theorem on the compatibility upon deployment of kirigami tessellations restricted on a spherical surface with patterned slits forming freeform quadrilateral meshes. We show that the spherical kirigami tessellations have either one or two compatible states, i.e., there are at most two isolated strain-free configurations along the deployment path. The theorem further reveals that the rigid-to-floppy transition from spherical to planar kirigami tessellations is possible if and only if the slits form parallelogram voids along with vanishing Gaussian curvature, which is also confirmed by an energy analysis and simulations. On the application side, we show a design of bistable spherical dome-like structure based on the theorem. Our study provides new insights into the rational design of morphable structures based on Euclidean and non-Euclidean geometries.

cond-mat.soft↗

arXiv2021

Theorem for the design of deployable kirigami tessellations with different topologies

The concept of kirigami has been extensively utilized to design deployable structures and reconfigurable metamaterials. Despite heuristic utilization of classical kirigami patterns, the gap between complex kirigami tessellations and systematic design principles still needs to be filled. In this paper, we develop a unified design method for deployable quadrilateral kirigami tessellations perforated on flat sheets with different topologies. This method is based on the parametrization of kirigami patterns formulated as the solution of a linear equation system. The geometric constraints for the deployability of parametrized cutting patterns are given by a unified theorem covering different topologies of the flat sheets. As an application, we employ the design method to achieve desired shapes along the deployment path of kirigami tessellations, while preserving the topological characteristics of the flat sheets. Our approach introduces interesting perspectives for the topological design of kirigami-inspired structures and metamaterials.

cond-mat.soft↗

arXiv2021

Origami spring-inspired shape morphing for flexible robotics

Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known interleaved origami spring, as promising candidates for shape morphing in flexible robotics. These springs are found to exhibit nonlinear stretch-twist coupling and linear/nonlinear mechanical response in the compression/tension region, analyzed by the demonstrated continuum mechanics models, experiments, and finite element simulations. To improve the mechanical performance such as the damage resistance, we establish an origami rigidization method by adding additional creases to the spring system. Guided by the theoretical framework, we experimentally realize three types of flexible robotics -- origami spring ejectors, crawlers, and transformers. These robots show the desired functionality and outstanding mechanical performance. The proposed concept of origami-aided design is expected to pave the way to facilitate the diverse shape morphing of flexible robotics.

cs.RO↗

arXiv2020

Inverse design of deployable origami structures that approximate a general surface

Shape-morphing finds widespread utility, from the deployment of small stents and large solar sails to actuation and propulsion in soft robotics. Origami structures provide a template for shape-morphing, but rules for designing and folding the structures are challenging to integrate into broad and versatile design tools. Here, we develop a sequential two-stage optimization framework to approximate a general surface by a deployable origami structure. The optimization is performed over the space of all possible rigidly and flat-foldable quadrilateral mesh origami. So, the origami structures produced by our framework come with desirable engineering properties: they can be easily manufactured on a flat reference sheet, deployed to their target state by a controlled folding motion, then to a compact folded state in applications involving storage and portability. The attainable surfaces demonstrated include those with modest but diverse curvatures and unprecedented ones with sharp ridges. The framework provides not only a tool to design various deployable and retractable surfaces in engineering and architecture, but also a route to optimizing other properties and functionality.

cond-mat.soft↗

arXiv2016

Molecular Dynamics Simulation of Strong Shock Waves Propagating in Dense Deuterium With the Effect of Excited Electrons

We present a molecular dynamics simulation of shock waves propagating in dense deuterium with the electron force field method [J. T. Su and W. A. Goddard, Phys. Rev. Lett. 99, 185003 (2007)], which explicitly takes the excitation of electrons into consideration. Non-equilibrium features associated with the excitation of electrons are systematically investigated. We show that chemical bonds in D$_2$ molecules lead to a more complicated shock wave structure near the shock front, compared with the results of classical molecular dynamics simulation. Charge separation can bring about accumulation of net charges on the large scale, instead of the formation of a localized dipole layer, which might cause extra energy for the shock wave to propagate. In addition, the simulations also display that molecular dissociation at the shock front is the major factor corresponding to the "bump" structure in the principal Hugoniot. These results could help to build a more realistic picture of shock wave propagation in fuel materials commonly used in the inertial confinement fusion.

physics.plasm-ph↗

arXiv2014

Switchable Imbibition in Nanoporous Gold

Spontaneous imbibition enables the elegant propelling of nano-flows because of the dominance of capillarity at small length scales. The imbibition kinetics are, however, solely determined by the static geometry of the porous host, the capillarity, and the fluidity of the imbibed liquid. This makes active control particularly challenging. Here, we show for aqueous electrolyte imbibition in nanoporous gold that the fluid flow can be reversibly switched on and off through electric potential control of the solid-liquid interfacial tension, i.e. we can accelerate the imbibition front, stop it, and have it proceed at will. Simultaneous measurements of the mass flux and the electrical current allow us to document simple scaling laws for the imbibition kinetics, and to explore the charge flow dynamics in the metallic nanopores. Our findings demonstrate that the high electric conductivity along with the pathways for ionic and/or fluid transport render nanoporous elemental gold a versatile, accurately controllable electro-capillary pump and flow sensor for minute amounts of liquids with exceptionally low operating voltages.

physics.flu-dyn↗