Related papers: Designing, Building, Measuring and Testing a Const…
The random nature of traffic conditions on freeways can cause excessive congestions and irregularities in the traffic flow. Ramp metering is a proven effective method to maintain freeway efficiency under various traffic conditions. Creating…
This paper deals a continuous-time state-dependent jump linear system, a particular kind of stochastic switching system. In particular, we consider a situation when the transition rate of the random jump process depends on the state…
A good feature representation is a determinant factor to achieve high performance for many machine learning algorithms in terms of classification. This is especially true for techniques that do not build complex internal representations of…
Fall prevention is one of the most important components in senior care. We present a technique to augment an assistive walking device with the ability to prevent falls. Given an existing walking device, our method develops a fall predictor…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
Equivalence testing, a fundamental problem in the field of distribution testing, seeks to infer if two unknown distributions on $[n]$ are the same or far apart in the total variation distance. Conditional sampling has emerged as a powerful…
Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…
The probabilistic design of offshore wind turbines aims to ensure structural safety in a cost-effective way. This involves conducting structural reliability assessments for different design options and considering different structural…
A freely falling chain from a cup at certain height can jump. The process can be divided into two parts: a stable suspension and an accelerating procedure. Variational principle and force analysis demonstrate that the shape of stable…
Material deformation and failure under impact loading is a subject of active investigation in space science and often requires very specialized equipment for testing. In this work, we present the design, operational analysis and application…
Designing a controllable airship for non-expert users or preemptively evaluating the performance of desired airships has always been a very challenging problem. This paper explores the blimp design parameter space from the aspect of the…
Reliability is a serious concern for future extreme-scale high-performance computing (HPC) systems. While the HPC community has developed various resilience solutions, the solution space remains fragmented. There are no formal methods and…
In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…
We study the dynamics and the optimization of the shock deceleration supported by a payload when its airborne carrier impacts the ground. We build a nonlinear elastic model for a container prototype and an elastic suspension system for the…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…
Modern autonomous systems rely on perception modules to process complex sensor measurements into state estimates. These estimates are then passed to a controller, which uses them to make safety-critical decisions. It is therefore important…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…