Related papers: A General Formulation for the Stiffness Matrix of …
The passivity index, a quantitative measure of a system's passivity deficiency or excess, has been widely used in stability analysis and control. Existing studies mostly rely on scalar forms of indices, which are restrictive for…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…
The literature on concurrency theory offers a wealth of examples of characteristic-formula constructions for various behavioural relations over finite labelled transition systems and Kripke structures that are defined in terms of fixed…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
A mathematical model is a function taking certain arguments and returning a theoretical prediction of a feature of a physical system. The arguments to the mathematical model can be split into two groups; (a) controllable variables of the…
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…
The concept of matrix rigidity was introduced by Valiant(independently by Grigoriev) in the context of computing linear transformations. A matrix is rigid if it is far(in terms of Hamming distance) from any matrix of low rank. Although we…
The universality of the non-perturbative definition of Hermitian one-matrix models following the quantum, stochastic, or $d=1$-like stabilization is discussed in comparison with other procedures. We also present another alternative…
The IIB matrix model is one of the candidates for nonperturbative formulation of string theory, and it is believed that the model contains gravitational degrees of freedom in some manner. In some preceding works, it was proposed that the…
Compliance control is an increasingly employed technique used in the robotic field. It is known that various mechanical properties can be reproduced depending on the design of the stiffness matrix, but the design theory that takes advantage…
We give a combinatorial characterization of generic minimal rigidity for planar periodic frameworks. The characterization is a true analogue of the Maxwell-Laman Theorem from rigidity theory: it is stated in terms of a finite combinatorial…
Neural networks have become increasingly popular in controller design due to their versatility and efficiency. However, their integration into feedback systems can pose stability challenges, particularly in the presence of uncertainties.…
The rigidity of a matrix measures how many of its entries need to be changed in order to reduce its rank to some value. Good lower bounds on the rigidity of an explicit matrix would imply good lower bounds for arithmetic circuits as well as…
A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…
The determination of the stiffness center of a machine tool is a major element for knowing the dynamic behavior of this one. This stiffness center can be obtained from a static characterization of the machine tool. For an operation of…
This note contains some observations on primary matrix functions and different notions of monotonicity with relevance towards constitutive relations in nonlinear elasticity. Focussing on primary matrix functions on the set of symmetric…
In this paper, an extension of the generalized free matrix based inequality is introduced in a unified form suitable for the estimation of integrals and sums of quadratic functions. The equivalences of several known variants are shown,…
A linearly constrained framework in $\mathbb{R}^d$ is a bar-joint framework where, in addition, vertices with loops are constrained to lie in given affine subspaces. In the generic case, when each vertex is incident to sufficiently many…
In this paper, we define the notion of rigidity for linear electrical multiports and for matroid pairs. We show the parallel between the two and study the consequences of this parallel. We present applications to testing, using purely…