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Many physical systems can be modelled as parameter-dependent variational problems. In numerous cases, multiple equilibria co-exist, requiring the evaluation of their stability, and the monitoring of transitions between them. Generally, the…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
Structural dynamics models with nonlinear stiffness appear, for example, when analyzing systems with nonlinear material behavior or undergoing large deformations. For complex systems, these models become too large for real-time applications…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
Neural-based, data-driven analysis and control of dynamical systems have been recently investigated and have shown great promise, e.g. for safety verification or stability analysis. Indeed, not only do neural networks allow for an entirely…
Present works discusses the efficient structural analysis and weight optimization of the cable-stiffened deployable structures. The stiffening effect of cables is incorporated through a matrix analysis based iterative strategy to identify…
Federated learning (FL) has emerged as a key technique for distributed machine learning (ML). Most literature on FL has focused on ML model training for (i) a single task/model, with (ii) a synchronous scheme for updating model parameters,…
We propose a framework for unified analysis of mixed methods for elasticity with weakly symmetric stress. Based on a commuting diagram in the weakly symmetric elasticity complex and extending a previous stability result, stable mixed…
Knee orthotic devices are widely proposed by physicians and medical practitioners for preventive or therapeutic objectives in relation with their effects, usually known as to stabilize joint or restrict ranges of motion. This study focuses…
In this paper, we consider the stability analysis of large-scale distributed networked control systems with random communication delays between linearly interconnected subsystems. The stability analysis is performed in the Markov jump…
Semiflexible polymers in poor solvents exhibit a rich variety of collapsed morphologies, including globules, toroids, and rodlike bundles, arising from the competition between attractive interactions and chain stiffness. Computer…
Woven shell structures are beneficial for applications requiring lightweight, damage resilience, and design tunability, such as in wearable devices, soft robotics, and aerospace systems. A fundamental component of woven structures is the…
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top,…
We demonstrate a new, hybrid symbolic-numerical method for the automatic synthesis of all families of translation operators required for the execution of the Fast Multipole Method (FMM). Our method is applicable in any dimensionality and to…
Robustness verification that aims to formally certify the prediction behavior of neural networks has become an important tool for understanding model behavior and obtaining safety guarantees. However, previous methods can usually only…
We present a technique designed for parallelizing large rigid body simulations, capable of exploiting multiple CPU cores within a computer and across a network. Our approach can be applied to simulate both unilateral and bilateral…
Isomorphs are curves in the thermodynamic phase diagram of invariant excess entropy, structure, and dynamics, while pseudoisomorphs are curves of invariant structure and dynamics, but not of the excess entropy. The latter curves have been…
Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant…
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The…
We propose an effective and flexible way to implement 2D and 3D elastoplastic problems in MATLAB using fully vectorized codes. Our technique is applied to a broad class of the problems including perfect plasticity or plasticity with…