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Modeling inverse dynamics is crucial for accurate feedforward robot control. The model computes the necessary joint torques, to perform a desired movement. The highly non-linear inverse function of the dynamical system can be approximated…
The static and dynamic properties of a Cosserat-type lattice interface of finite thickness are studied, so that both displacements and rotational degrees of freedom are taken into account. The model allows considering interfaces with a…
Ordinary differential equations (ODE) have been widely used for modeling dynamical complex systems. For high-dimensional ODE models where the number of differential equations is large, it remains challenging to estimate the ODE parameters…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
Flexible elastic structures, such as beams, rods, ribbons, plates, and shells, exhibit complex nonlinear dynamical behaviors that are central to a wide range of engineering and scientific applications, including soft robotics, deployable…
Remote sensing image change description represents an innovative multimodal task within the realm of remote sensing processing.This task not only facilitates the detection of alterations in surface conditions, but also provides…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…
A core problem in machine learning is to learn expressive latent variables for model prediction on complex data that involves multiple sub-components in a flexible and interpretable fashion. Here, we develop an approach that improves…
Prior studies on Intelligent Reflecting Surface (IRS) have mostly assumed perfect channel state information (CSI) available for designing the IRS passive beamforming as well as the continuously adjustable phase shift at each of its…
The importance of accurate simulation of the plastic deformation of ductile metals to the design of structures and components is well-known. Many techniques exist that address the length scales relevant to deformation pro- cesses, including…
We show how spatial dispersion can be used as a mechanism to customize the longitudinal profiles of electric fields inside modulated wire media, using a fast and remarkably accurate 1D inhomogeneous model. This customization gives fine…
Triangle meshes remain the most popular data representation for surface geometry. This ubiquitous representation is essentially a hybrid one that decouples continuous vertex locations from the discrete topological triangulation.…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Structured data extraction from tables plays a crucial role in document image analysis for scanned documents and digital archives. Although many methods have been proposed to detect table structures and extract cell contents, accurately…
Mathematical models and computer algorithms are developed to calculate dynamic stress concentration and fracture wave propagation in a reinforced composite sheet. The composite consists of a regular system alternating extensible fibers and…
Energy distributions of high frequency linear wave fields are often modelled in terms of flow or transport equations with ray dynamics given by a Hamiltonian vector field in phase space. Applications arise in underwater and room acoustics,…
A vectorial analysis of magnetic resonance spectrometers, based on traveling wave resonators and including the reference arm and the automatic control of frequency, has been developed. The proposed model, valid also for stationary wave…
One of the main approaches for modeling fracture and crack propagation in solid materials is adaptive insertion of cohesive elements, in which line-like (2D) or surface-like (3D) elements are inserted into the finite element mesh to model…
Dimensionally split advection schemes are attractive for atmospheric modelling due to their efficiency and accuracy in each spatial dimension. Accurate long time-steps can be achieved without significant cost using the flux-form…