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Stochastic contraction analysis is a recently developed tool for studying the global stability properties of nonlinear stochastic systems, based on a differential analysis of convergence in an appropriate metric. To date, stochastic…
The present paper examines the active control of parametric resonance in modified Rayleigh-Duffing oscillator. We used the method of averaging to obtain steady-state solutions. We have found the critical value of the parametrical amplitude…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
In this paper, we analyze the robustness of the PSO-based approach to parameter estimation of robot dynamics presented in Part One. We have made attempts to make the PSO method more robust by experimenting with potential cost functions. The…
Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors…
We analyse some acoustic emission time series obtained from a lathe machining process. Considering the dynamic evolution of the process we apply two classes of well known stationary stochastic time series models. We apply a preliminary root…
During severe impact conditions, brain tissue experiences a rapid and complex deformation, which can be seen as a mixture of compression, tension and shear. Moreover, diffuse axonal injury (DAI) occurs in animals and humans when both the…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
We present exact results, as well as some illustrative Monte Carlo simulations, concerning a stochastic network with weighted connections in which the fraction of nodes that are dynamically synchronized is a parameter. This allows one to…
The wolf note is an acoustic instability that occurs in large bowed string instruments when a strong body resonance interacts with the vibrating string, producing amplitude modulation and loss of tonal control. Various wolf suppressors -…
We study the problem of estimating a continuous ability parameter from sequential binary responses by actively asking questions with varying difficulties, a setting that arises naturally in adaptive testing and online preference learning.…
The full characterization of a stringed musical instrument requires measuring the motion of the strings in at least two dimensions. Traditionally this has been done using electromagnetic means or by optical transmission. However in many…
The violin is one of the most popular musical instruments. Various parameters of bowing motion, such as pressure, position, and speed, are crucial for producing a beautiful tone. However, mastering them is challenging and requires extensive…
Understanding the physical interaction with wearable robots is essential to ensure safety and comfort. However, this interaction is complex in two key aspects: (1) the motion involved, and (2) the non-linear behaviour of soft tissues.…
We developed an improved model in order to predict the RF behavior and the slow light properties of the SOA valid for any experimental conditions. It takes into account the dynamic saturation of the SOA, which can be fully characterized by…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
So far, several physical models have been proposed for the study of vocal fold oscillations during phonation. The parameters of these models, such as vocal fold elasticity, resistance, etc. are traditionally determined through the…
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge.…
Intensity estimation for Poisson processes is a classical problem and has been extensively studied over the past few decades. Practical observations, however, often contain compositional noise, i.e. a nonlinear shift along the time axis,…