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Finite elasticity problems commonly include material and geometric nonlinearities and are solved using various numerical methods. However, for highly nonlinear problems, achieving convergence is relatively difficult and requires small load…
In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
Analytical solutions to nonlinear differential equations -- where they exist at all -- can often be very difficult to find. For example, Duffing's equation for a system with cubic stiffness requires the use of elliptic functions in the…
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torques are mapped to the output joint torques through a coupling…
This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommodates a broad range of nonlinear models…
Pattern-forming metamaterials feature microstructures specifically designed to change the material's macroscopic properties due to internal instabilities. These can be triggered either by mechanical deformation or, in the case of active…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
We propose a simple technique that, if combined with algorithms for computing functions of triangular matrices, can make them more efficient. Basically, such a technique consists in a specific scaling similarity transformation that reduces…
Researchers have studied Stewart-Gough platforms, also known as Gough-Stewart platforms or hexapod platforms extensively for their inherent fine control characteristics. Their studies led to the potential deployment opportunities of…
Using existing, forward-in-time integration schemes, we demonstrate that it is possible to compute unstable, saddle-type fixed points of stiff systems of ODEs when the stable compenents are fast (i.e., rapidly damped) while the unstable…
We make use of the previously developed formalism for a monomer ensemble and include angular dependence of the segments of the polymer chains thus described. In particular we show how to deal with stiffness when the polymer chain is…
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Metzler matrices play a crucial role in positive linear dynamical systems. Finding the closest stable Metzler matrix to an unstable one (and vice versa) is an important issue with many applications. The stability considered here is in the…
Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few are used to improve the performance of strength amplification…
Finite element methods require the composition of the global stiffness matrix from local finite element contributions. The composition process combines the computation of element stiffness matrices and their assembly into the global…
To analyze nonlinear dynamic systems, we developed a new technique based on the square matrix method. We propose this technique called the \convergence map" for generating particle stability diagrams similar to the frequency maps widely…
Gaussian process (GP) modulated Cox processes are widely used to model point patterns. Existing approaches require a mapping (link function) between the unconstrained GP and the positive intensity function. This commonly yields solutions…