Related papers: A general nonlinear mechanical model based on spec…
Non-rigid structure-from-motion (NRSfM), a promising technique for addressing the mapping challenges in monocular visual deformable simultaneous localization and mapping (SLAM), has attracted growing attention. We introduce a novel method,…
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…
Mechanical non-reciprocity-manifested as asymmetric responses to opposing mechanical stimuli-has traditionally been achieved through intricate structural nonlinearities in metamaterials. However, continuum solids with inherent…
This work has the goal of briefly surveying some key stabilization techniques for general nonlinear systems, for which, as it is well known, a smooth control Lyapunov function may fail to exist. A general overview of the situation with…
A primary spectral submanifold (SSM) is the unique smoothest nonlinear continuation of a nonresonant spectral subspace $E$ of a dynamical system linearized at a fixed point. Passing from the full nonlinear dynamics to the flow on an…
Nonlinear stochastic motion presents significant challenges for Bayesian particle tracking. To address this challenge, this paper proposes a framework to construct an invertible transformation that maps the nonlinear state-space model (SSM)…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
We derive a non-linear sigma model (NLSM) generally representing antiferromagnetic Heisenberg spin chains with inhomogeneous spin magnitudes and inhomogeneous nearest-neighbor exchange constants arrayed in finite periods. Only a restriction…
In many areas of engineering, nonlinear numerical analysis is playing an increasingly important role in supporting the design and monitoring of structures. Whilst increasing computer resources have made such formerly prohibitive analyses…
This paper addresses the task of dense non-rigid structure-from-motion (NRSfM) using multiple images. State-of-the-art methods to this problem are often hurdled by scalability, expensive computations, and noisy measurements. Further, recent…
Recovering 3D structure and camera motion from images has been a long-standing focus of computer vision research and is known as Structure-from-Motion (SfM). Solutions to this problem are categorized into incremental and global approaches.…
This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing the SFF system to subsystems, a generic~term (namely…
Friction modeling has always been a challenging problem due to the complexity of real physical systems. Although a few state-of-the-art structured data-driven methods show their efficiency in nonlinear system modeling, deterministic…
Generalized spin-boson (GSB) models describe the interaction between a quantum mechanical system and a structured boson environment, mediated by a family of coupling functions known as form factors. We propose an extension of the class of…
Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
State-space smoothing has found many applications in science and engineering. Under linear and Gaussian assumptions, smoothed estimates can be obtained using efficient recursions, for example Rauch-Tung-Striebel and Mayne-Fraser algorithms.…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
Modeling the dynamics of micro-mobility vehicles (MMV) is becoming increasingly important for training autonomous vehicle systems and building urban traffic simulations. However, mainstream tools rely on variants of the Kinematic Bicycle…
In this paper, we apply the constraint energy minimizing generalized multiscale finite element method (CEM-GMsFEM) to first solving a nonlinear poroelasticity problem. The arising system consists of a nonlinear pressure equation and a…