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This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Clustering is a widely used unsupervised learning method for finding structure in the data. However, the resulting clusters are typically presented without any guarantees on their robustness; slightly changing the used data sample or…
From cell development to space rockets, the mechanical stability of thin shells is crucial across many industrial and natural processes. However, predicting shells' failure properties remains an open challenge, owing to their sensitivity to…
We present {\it block analysis}, an efficient method to perform finite-size scaling for obtaining the length scale of dynamic heterogeneity and the point-to-set length scale for generic glass-forming liquids. This method involves…
The dynamical stability of the iterates during training plays a key role in determining the minima obtained by optimization algorithms. For example, stable solutions of gradient descent (GD) correspond to flat minima, which have been…
In hedonic games, players form coalitions based on individual preferences over the group of players they could belong to. Several concepts to describe the stability of coalition structures in a game have been proposed and analysed in the…
This paper provides a comprehensive analysis of stability and long-time behaviour of a coupled system constituted by two rigid bodies separated by a thin layer of lubricant. We show that permanent rotations of the whole system, with the…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
The energy transition is causing many stability-related challenges for power systems. Transient stability refers to the ability of a power grid's bus angles to retain synchronism after the occurrence of a major fault. In this paper a…
Training stability is typically regarded as a prerequisite for reliable optimization in large language models. In this work, we analyze how stabilizing training dynamics affects the induced generation distribution. We show that under…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
This paper investigates the robust stability and stabilization analysis of interval fractional-order systems with time-varying delay. The stability problem of such systems is solved first, and then using the proposed results a stabilization…
While determining the stability of an unconstrained elastic structure is a straightforward task, this is not the case for viscoelastic structures. Seemingly elastically stable conformations of viscoelastic structures may gradually creep…
In the stable marriage problem, a set of men and a set of women are given, each of whom has a strictly ordered preference list over the acceptable agents in the opposite class. A matching is called stable if it is not blocked by any pair of…
The formation of quasi-spherical cages from protein building blocks is a remarkable self-assembly process in many natural systems, where a small number of elementary building blocks are assembled to build a highly symmetric icosahedral…
We will look for stable structures in four situations and discuss what is known and unknown.
We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by…
Distributed systems store data objects redundantly to balance the data access load over multiple nodes. Load balancing performance depends mainly on 1) the level of storage redundancy and 2) the assignment of data objects to storage nodes.…
Visual understanding of geometric structures with complex spatial relationships is a fundamental component of human intelligence. As children, we learn how to reason about structure not only from observation, but also by interacting with…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…