Related papers: Characterizing the limits of human stability durin…
We study the stability of deterministic systems given sequences of large, jump-like perturbations. Our main result is to dervie a lower bound for the probability of the system to remain in the basin, given that perturbations are rare…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
To support N-1 pre-fault transient stability assessment, this paper introduces a new data collection method in a data-driven algorithm incorporating the knowledge of power system dynamics. The domain knowledge on how the disturbance effect…
This paper presents a novel method for transient stability analysis (TSA) that circumvents the limitations of sequential numerical integration and energy functions. The proposed method begins by constructing a trajectory-dependent stability…
Human motion prediction is consisting in forecasting future body poses from historically observed sequences. It is a longstanding challenge due to motion's complex dynamics and uncertainty. Existing methods focus on building up complicated…
We develop a new method to calculate eigenvalues in frustrated quantum spin models. It is based on the stochastic state selection (SSS) method, which is an unconventional Monte Carlo technique we have investigated in recent years. We…
We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear…
Robots working in real environments need to adapt to unexpected changes to avoid failures. This is an open and complex challenge that requires robots to timely predict and identify the causes of failures to prevent them. In this paper, we…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
Most skydiving accidents occur during the parafoil-piloting and landing stages and result from human lapses in judgment while piloting the parafoil. Training of novice pilots is protracted due to the lack of functional and easily accessible…
Transient dynamics are of large interest in many areas of science. Here, a generalization of basin stability (BS) is presented: constrained basin stability (CBS) that is sensitive to various different types of transients arising from finite…
Postural body sway displacements for quiet standing subjects (measured with a new ultrasonic device) are reported. Two of the well known strategies for balancing, namely ankle and hip movements were probed. The data is modeled using a…
We aim to increase the ability of a of coupled phase oscillators to maintain the synchronization when the system is affected by stochastic disturbances. We model the disturbances by Gaussian noise and use the mean first hitting time when…
The performance of decision policies and prediction models often deteriorates when applied to environments different from the ones seen during training. To ensure reliable operation, we analyze the stability of a system under distribution…
Falls are serious and costly for elderly people. The Centers for Disease Control and Prevention of the US reports that millions of older people, 65 and older, fall each year at least once. Serious injuries such as; hip fractures, broken…
Stability of dynamical systems is a central topic with applications in widespread areas such as economy, biology, physics and mechanical engineering. The dynamics of nonlinear systems may completely change due to perturbations forcing the…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Panic-induced herding in individuals often leads to social disasters, resulting in people being trapped and trampled in crowd stampedes triggered by panic. We introduce a novel approach that offers fresh insights into studying the…
Falls during daily ambulation activities are a leading cause of injury in older adults due to delayed physiological responses to disturbances of balance. Lower-limb exoskeletons have the potential to mitigate fall incidents by detecting and…
An input to a system reveals a non-robust behaviour when, by making a small change in the input, the output of the system changes from acceptable (passing) to unacceptable (failing) or vice versa. Identifying inputs that lead to non-robust…