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We present a new training methodology for transformers using a multilevel, layer-parallel approach. Through a neural ODE formulation of transformers, our application of a multilevel parallel-in-time algorithm for the forward and…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
For thin networked materials, which are spatial discrete structures constructed by continuum components, a paradox on the effective thickness defined by the in-plane and out-of-plane stiffnesses is found, i.e. the effective thickness is not…
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each link is carried through the entire control design without…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
In this paper, a systematic study of the strong metric subregularity property of mappings is carried out by means of a variational tool, called steepest displacement rate. With the aid of this tool, a simple characterization of strong…
We present a topological framework for finding low-flop algorithms for evaluating element stiffness matrices associated with multilinear forms for finite element methods posed over straight-sided affine domains. This framework relies on…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Triply periodic minimal surface (TPMS) is emerging as an important way of designing microstructures. However, there has been limited use of commercial CAD/CAM/CAE software packages for TPMS design and manufacturing. This is mainly because…
Optimal power flow (OPF) is the fundamental mathematical model in power system operations. Improving the solution quality of OPF provide huge economic and engineering benefits. The convex reformulation of the original nonconvex alternating…
In the near future, massively parallel computing systems will be necessary to solve computation intensive applications. The key bottleneck in massively parallel implementation of numerical algorithms is the synchronization of data across…
Control systems can show robustness to many events, like disturbances and model inaccuracies. It is natural to speculate that they are also robust to sporadic deadline misses when implemented as digital tasks on an embedded platform. This…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
Digital stiffness programmability is fulfilled with a heterogeneous mechanical metamaterial. The prototype consists of an elastomer matrix containing tessellations of diamond shaped cavities selectively confined with semi-rigid plastic beam…
Federated learning has attracted increasing attention with the emergence of distributed data. While extensive federated learning algorithms have been proposed for the non-convex distributed problem, federated learning in practice still…
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
Fluid turbulence is an important problem for physics and engineering. Turbulence modeling deals with the development of simplified models that can act as surrogates for representing the effects of turbulence on flow evolution. Such models…