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The instability of embedding spaces across model retraining cycles presents significant challenges to downstream applications using user or item embeddings derived from recommendation systems as input features. This paper introduces a novel…
A pendular platform is a robotic structure commonly used in the design of controllers given its nonlinear dynamics; This work presents the modeling, design and implementation of an optimal LQR controller and a Sliding Mode SMC controller…
Physical systems obey strict symmetry principles. We expect that machine learning methods that intrinsically respect these symmetries should have higher prediction accuracy and better generalization in prediction of physical dynamics. In…
In this paper, we propose a new numerical strategy for the stabilization of evolution systems. The method is based on the methodology given by Ammari, Nicaise andPignotti in ''Stabilization by switching time-delay, Asymptot. Anal., 83…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in…
We present the results of linear stability of a damped coplanar double pendulum and its non-linear motion, when the point of suspension is vibrated sinusoidally in the vertical direction with amplitude $a$ and frequency $\omega $. A double…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
The aim of this paper is to study the convergence of the primal-dual dynamics pertaining to Support Vector Machines (SVM). The optimization routine, used for determining an SVM for classification, is first formulated as a dynamical system.…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
To manipulate the protein population at certain functional state through chemical stabilizers is crucial for protein-related studies. It not only plays a key role in protein structure analysis and protein folding kinetics, but also affects…
In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still…
Dynamical stabilization of an inverted pendulum through vertical movement of the pivot is a well-known counterintuitive phenomenon in classical mechanics. This system is also known as Kapitza pendulum and the stability can be explained with…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
Power systems are usually large non-linear systems, which are often subjected to low frequency electromechanical oscillations. Power System Stabilizers are often used as effective and economic means for damping the generator's…
Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Balancing a bicycle is typical for the balance control humans perform as a part of a whole range of behaviors (walking, running, skating, skiing, etc.). This paper presents a general model of balance control and applies it to the balancing…
Bifurcations associated with stability of the saddle fixed point of the Poincar\'{e} map, arising from the unstable equilibrium point of the potential, are investigated in a forced Duffing oscillator with a double-well potential. One…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…