Related papers: Stiffness modelling of parallelogram-based paralle…
Robustness of linear systems with constant coefficients is considered. There exist methods and tools for analyzing the stability of systems with random or deterministic uncertainties. At the same time, there are no approaches for the…
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
This paper proposes a multitask learning framework for probabilistic model updating by jointly using strain and acceleration measurements. This framework can enhance the structural damage assessment and response prediction of existing steel…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
Parametric linear programming is a central operation for polyhedral computations, as well as in certain control applications.Here we propose a task-based scheme for parallelizing it, with quasi-linear speedup over large problems.This type…
As compute power increases with time, more involved and larger simulations become possible. However, it gets increasingly difficult to efficiently use the provided computational resources. Especially in particle-based simulations with a…
Many studies simulates the machining process by using a single degree of freedom spring-mass sytem to model the tool stiffness, or the workpiece stiffness, or the unit tool-workpiece stiffness in modelings 2D. Others impose the tool action,…
Multiscale techniques have been widely shown to potentially overcome the limitation of homogenization schemes in representing the microscopic failure mechanisms in heterogeneous media as well as their influence on their structural response…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
We study the problem of complexity estimation in the context of parallelizing an advanced Branch and Bound-type algorithm over graphical models. The algorithm's pruning power makes load balancing, one crucial element of every distributed…
The aim of this article is to analyze data from multiple repairable systems under the presence of dependent competing risks. In order to model this dependence structure, we adopted the well-known shared frailty model. This model provides a…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Most machine learning and deep neural network algorithms rely on certain iterative algorithms to optimise their utility/cost functions, e.g. Stochastic Gradient Descent. In distributed learning, the networked nodes have to work…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…