Related papers: A general nonlinear mechanical model based on spec…
The purpose of this paper is to report on recent approaches to reconstruction problems based on analog, or in other words, infinite-dimensional, image and signal models. We describe three main contributions to this problem. First, linear…
In this paper, a force-based beam finite element model based on a modified higher-order shear deformation theory is proposed for the accurate analysis of functionally graded beams. In the modified higher-order shear deformation theory, the…
Graphical Transformation Models (GTMs) are introduced as a novel approach to effectively model multivariate data with intricate marginals and complex dependency structures semiparametrically, while maintaining interpretability through the…
Gaussian process state-space models (GP-SSMs) are a very flexible family of models of nonlinear dynamical systems. They comprise a Bayesian nonparametric representation of the dynamics of the system and additional (hyper-)parameters…
In the paper, some concepts of modern differential geometry are used as a basis to develop an invariant theory of mechanical systems, including systems with gyroscopic forces. An interpretation of systems with gyroscopic forces in the form…
Force-based models describe pedestrian dynamics in analogy to classical mechanics by a system of second order ordinary differential equations. By investigating the linear stability of two main classes of forces, parameter regions with…
Results on the problem of stabilizing a nonlinear continuous-time system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive…
We present SoftSMPL, a learning-based method to model realistic soft-tissue dynamics as a function of body shape and motion. Datasets to learn such task are scarce and expensive to generate, which makes training models prone to overfitting.…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Identifying the intrinsic coordinates or modes of the dynamical systems is essential to understand, analyze, and characterize the underlying dynamical behaviors of complex systems. For nonlinear dynamical systems, this presents a critical…
In this paper, we present a novel closed-form model (CFM) for accurate and fast evaluation of nonlinear interference in modern ultrawideband coherent optical fiber communication systems. Starting from the Gaussian noise model (GN model),…
This paper presents a general form of integral sliding mode manifold, and proposes an algorithmic approach based on Sum of Squares (SOS) programming to design generalized integral sliding mode manifold and controller for nonlinear systems…
Unlike equilibrium statistical mechanics, with its well-established foundations, a similar widely-accepted framework for non-equilibrium statistical mechanics (NESM) remains elusive. Here, we review some of the many recent activities on…
In this article, we present a brief overview of some of the recent progress made in identifying and generating finite dimensional integrable nonlinear dynamical systems, exhibiting interesting oscillatory and other solution properties,…
Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…
In this paper we consider critical motion sequences (CMSs) of rolling-shutter (RS) SfM. Employing an RS camera model with linearized pure rotation, we show that the RS distortion can be approximately expressed by two internal parameters of…
Stochastic geometric mechanics (SGM) is known for its potential utility in quantifying uncertainty in global climate modelling of the Earth's ocean and atmosphere while also preserving the fundamental advective transport properties of ideal…
The fundamental problem of stabilizing a general nonaffine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this article. A novel integral sliding-mode parallel control (ISMPC) approach is…
Classical mechanical systems are central to controller design in energy shaping methods of geometric control. However, their expressivity is limited by position-only metrics and the intimate link between metric and geometry. Recent work on…