Related papers: Characterizing the limits of human stability durin…
It is well recognized that the relative position of the center of mass (pCOM) with respect to the base of support (BOS) is a determining factor in the maintenance of balance. However, during gait the dynamic nature of the BOS is not well…
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 object and their configurations. Developmental psychology…
This paper introduces a method for predicting the likely behaviors of continuous nonlinear systems in equilibrium in which the input values can vary. The method uses a parameterized equation model and a lower bound on the input joint…
This paper studies the performative prediction problem which optimizes a stochastic loss function with data distribution that depends on the decision variable. We consider a setting where the agent(s) provides samples adapted to the…
Poor sitting habits have been identified as a risk factor to musculoskeletal disorders and lower back pain especially on the elderly, disabled people, and office workers. In the current computerized world, even while involved in leisure or…
Machine learning force fields (MLFFs) are an attractive alternative to ab-initio methods for molecular dynamics (MD) simulations. However, they can produce unstable simulations, limiting their ability to model phenomena occurring over…
Parameters of the mathematical model describing many practical dynamical systems are prone to vary due to aging or renewal, wear and tear, as well as changes in environmental or service conditions. These variabilities will adversely affect…
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…
Reasonably large perturbations may push a power grid from its stable synchronous state into an undesirable state. Identifying vulnerabilities in power grids by studying power grid stability against such perturbations can aid in preventing…
We present the first fully automated Sit-to-Stand or Stand-to-Sit (StS) analysis framework for long-term monitoring of patients in free-living environments using video silhouettes. Our method adopts a coarse-to-fine time localisation…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
Reachability analysis is a popular method to give safety guarantees for stochastic cyber-physical systems (SCPSs) that takes in a symbolic description of the system dynamics and uses set-propagation methods to compute an overapproximation…
Falls are a leading cause of injury and loss of independence among older adults. Vision-based fall prediction systems offer a non-invasive solution to anticipate falls seconds before impact, but their development is hindered by the scarcity…
We study the problem of system identification for stochastic continuous-time dynamics, based on a single finite-length state trajectory. We present a method for estimating the possibly unstable open-loop matrix by employing properly…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-critical systems to ensure their safety and achieve tracking…
Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situations, the state of the system may not be known but only…
Empirical modelling often aims for the simplest model consistent with the data. A new technique is presented which quantifies the consistency of the model dynamics as a function of location in state space. As is well-known, traditional…
The measurement of human behavior remains a central challenge across the behavioral sciences. Traditional approaches typically rely on passive observation of responses collected under static or weakly controlled conditions, limiting the…
In this paper we propose a new method to detect and classify coexisting solutions in nonlinear systems. We focus on mechanical and structural systems where we usually avoid multistability for safety and reliability. We want to be sure that…