Related papers: Sensitivity analysis for the active manipulation o…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
In this study, we introduce a sensitivity analysis methodology for stochastic systems in chemistry, where dynamics are often governed by random processes. Our approach is based on gradient estimation via finite differences, averaging…
Absorbing layers are sometimes required to be impractically thick in order to offer an accurate approximation of an absorbing boundary condition for the Helmholtz equation in a heterogeneous medium. It is always possible to reduce an…
Active subspace analysis uses the leading eigenspace of the gradient's second moment to conduct supervised dimension reduction. In this article, we extend this methodology to real-valued functionals on Hilbert space. We define an operator…
We derive asymptotic expansions of the current, the electrostatic capacity, and the far-field of the electrostatic potential resulting from small perturbations in the shape of an isolated conductor with $\mathcal{C}^2$-surface. Our…
In this article, we perform a parameter study for a recently developed karst hydrological model. The study consists of a high-dimensional Bayesian inverse problem and a global sensitivity analysis. For the first time in karst hydrology, we…
Sensitivity analysis of a numerical model, for instance simulating physical phenomena, is useful to quantify the influence of the inputs on the model responses. This paper proposes a new sensitivity index, based upon the modification of the…
The aim of this work is to investigate and characterise particle behaviour in an (observationally-driven) 3D MHD model of the solar atmosphere above a slowly evolving, non-flaring active region. We use a relativistic guiding-centre particle…
State and parameter estimation is essential for process monitoring and control. Observability plays an important role in both state and parameter estimation. In simultaneous state and parameter estimation, the parameters are often augmented…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
We present in-hand manipulation skills on a dexterous, compliant, anthropomorphic hand. Even though these skills were derived in a simplistic manner, they exhibit surprising robustness to variations in shape, size, weight, and placement of…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
This paper is concerned with the multi-frequency factorization method for imaging the support of a wave-number-dependent source function. It is supposed that the source function is given by the inverse Fourier transform of some…
The increasing popularity of attention mechanisms in deep learning algorithms for computer vision and natural language processing made these models attractive to other research domains. In healthcare, there is a strong need for tools that…
Real physical systems are only understood, experimentally or theoretically, to a finite resolution so in their analysis there is generally an ignorance of possible short-range phenomena. It is also well-known that the boundary conditions of…
In this paper, we investigate the analyticity of a class of exponential Dirichlet series. We then explicitly determine the coefficients of their power series decomposition and provide an estimate for the remainder. As an application, we…
Precision sensing, and in particular high precision magnetometry, is a central goal of research into quantum technologies. For magnetometers, often trade-offs exist between sensitivity, spatial resolution, and frequency range. The…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Hybrid particle-field methods are computationally efficient approaches for modelling soft matter systems. So far applications of these methodologies have been limited to constant volume conditions. Here, we reformulate particle-field…