Related papers: Modeling Switched Behavior with Hybrid Bond Graph:…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
Port-Hamiltonian system theory is a well-known framework for the control of complex physical systems. The majority of port-Hamiltonian control design methods base on an explicit input-state-output port-Hamiltonian model for the system under…
This paper proposes a framework for training Reinforcement Learning agents using Python in conjunction with Simulink models. Leveraging Python's superior customization options and popular libraries like Stable Baselines3, we aim to bridge…
This work introduces a novel, modular, layered web based platform for managing machine learning experiments on grid-based High Performance Computing infrastructures. The coupling of the communication services offered by the grid, with an…
This article introduces a formal model to specify, model and validate hierarchical complex systems described at different levels of analysis. It relies on concepts that have been developed in the multi-agent-based simulation (MABS)…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
There is a need for a simulation framework, which is develop as a software using modern engineering approaches (e.g., modularity --i.e., model reuse--, testing, continuous development and continuous integration, automated management of…
A Smolyak algorithm adapted to system-bath separation is proposed for rigorous quantum simulations. This technique combines a sparse grid method with the system-bath concept in a specific configuration without limitations on the form of the…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
Transient gas network simulations can significantly assist in design and operational aspects of gas networks. Models used in these simulations require a detailed framework integrating various models of the network constituents - pipes and…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
Heterogeneity is one important feature of complex systems, leading to the complexity of their construction and analysis. Moving the heterogeneity at model level helps in mastering the difficulty of composing heterogeneous models which…
In this paper, we provide a compositional methodology for constructing symbolic models for networks of discrete-time switched systems. We first define a notion of so-called augmented-storage functions to relate switched subsystems and their…
Dynamic Scene Graphs (DSGs) provide a structured representation of hierarchical, interconnected environments, but current approaches struggle to capture stochastic dynamics, partial observability, and multi-agent activity. These aspects are…
High-intensity laser plasma interactions create complex computational problems because they involve both fluid and kinetic regimes, which need models that maintain physical precision while keeping computational speed. The research…
Intelligent fault diagnosis has become an indispensable technique for ensuring machinery reliability. However, existing methods suffer significant performance decline in real-world scenarios where models are tested under unseen working…
Dynamical systems in the life sciences are often composed of complex mixtures of overlapping behavioral regimes. Cellular subpopulations may shift from cycling to equilibrium dynamics or branch towards different developmental fates. The…
Mathematical models of cardiac action potentials have become increasingly important in the study of heart disease and pharmacology, but concerns linger over their robustness during long periods of simulation, in particular due to issues…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…