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For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
We introduce a geometric and operator-theoretic formalism viewing optimization algorithms as discrete connections on a space of update operators. Each iterative method is encoded by two coupled channels-drift and diffusion-whose algebraic…
We present an algorithm for determining the acceleration field of a rigid body using measurements from four tri-axial accelerometers. The acceleration field is an important quantity in bio-mechanics problems, especially in the study of mild…
General matrix multiplication (GEMM) on spatial accelerators is highly sensitive to mapping choices in both execution efficiency and energy consumption. However, the mapping space exhibits combinatorial explosion, which makes it extremely…
Increasingly stringent performance requirements for motion control necessitate the use of increasingly detailed models of the system behavior. Motion systems inherently move, therefore, spatio-temporal models of the flexible dynamics are…
This paper presents a novel and lightweight hyperparameter optimization (HPO) method, MOdular FActorial Design (MOFA). MOFA pursues several rounds of HPO, where each round alternates between exploration of hyperparameter space by factorial…
Fast and Relaxed Vector Fitting (FRVF) is a frequency-domain system identification approach that has been widely adopted in electrical system modelling, while its application to mechanical systems has remained relatively unexplored. In this…
To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…
Experimentally engineering high-dimensional quantum states is a crucial task for several quantum information protocols. However, a high degree of precision in the characterization of experimental noisy apparatus is required to apply…
A method is presented to compute minimizers (instantons) of action functionals using arclength parametrization of Hamilton's equations. This method can be interpreted as a local variant of the geometric minimum action method (gMAM)…
Orbital angular momentum (OAM) has aroused a widespread interest in many fields, especially in telecommunications due to its potential for unleashing new capacity in the severely congested spectrum of commercial communication systems. Beams…
In this work, we present an efficient numerical implementation of the finite element method for modal analysis that leverages various symmetry operations, including spatial symmetry in point groups and space-time symmetry in…
In the design of engineered components, rigorous vibration testing is essential for performance validation and identification of resonant frequencies and amplitudes encountered during operation. Performing this evaluation numerically via…
This paper considers the minimization of the offloading delay for non-orthogonal multiple access assisted mobile edge computing (NOMA-MEC). By transforming the delay minimization problem into a form of fractional programming, two iterative…
Optical orbital angular momentum (OAM) provides an additional dimension for photons to carry information in high-capacity optical communication. Although the practical needs have intrigued the generations of miniaturized devices to…
This paper presents a reproducible and physically feasible dynamic parameter identification framework for CRANE-X7, a low-cost robot arm driven by modular smart actuators. To improve practical identifiability, products of inertia are…
Radar detects stable, long-range objects under variable weather and lighting conditions, making it a reliable and versatile sensor well suited for ego-motion estimation. In this work, we propose a radar-only odometry pipeline that is highly…
The difficulty in frequency domain identification is that frequency components of arbitrary inputs and outputs are not related by the system's transfer function if signals are windowed. When rectangular windows are used, it is well known…
Measurement of environmental parameters is one of the basic requirements for the proper operation of a telescope. This memo is intended to provide guidance for the measurement accuracy requirements in the context of the ngVLA. It relies on…
In attempting to quantify statistically the density structure of the interstellar medium, astronomers have considered a variety of fractal models. Here we argue that, to properly characterise a fractal model, one needs to define precisely…