Related papers: Bridge Modal Identification using Single Moving Se…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
Predicting travel times of vehicles in urban settings is a useful and tangible quantity of interest in the context of intelligent transportation systems. We address the problem of travel time prediction in arterial roads using data sampled…
In this paper, a novel method to estimate dynamic load parameters via ambient PMU measurements is proposed. Unlike conventional parameter identification methods, the proposed algorithm does not require the existence of large disturbance to…
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…
Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…
Monitoring the dynamics of traffic in major corridors can provide invaluable insight for traffic planning purposes. An important requirement for this monitoring is the availability of methods to automatically detect major traffic events and…
Passive bearing-only tracking (BOT) estimates the target states by utilising noisy bearing measurements captured by a sensor array. The sensor array is often towed behind the ship, using a long flexible cable to reduce interference from the…
A macroscopic model-based approach for estimation of the traffic state, specifically of the (total) density and flow of vehicles, is developed for the case of "mixed" traffic, i.e., traffic comprising both ordinary and connected vehicles.…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Wind-traffic interactions strongly influence the dynamic response of long-span bridges, yet loads are often analysed independently. This work models concurrent wind and traffic and demonstrates that it differs from linear superposition.…
We consider a heavy, uniform, elastic beam rested on periodically distributed supports as a simplified model of a bridge. The supports are subjected to a partial destruction propagating as a failure wave along the beam. Three related models…
Situational awareness for connected and automated vehicles describes the ability to perceive and predict the behavior of other road-users in the near surroundings. However, pedestrians can become occluded by vehicles or infrastructure,…
Fast identification methods of pressure sensors are investigated. With regard to a complete accurate sensor parameter identification two different measurement methods are combined. The approach consists on one hand in performing static…
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…
We propose a one-dimensional model of active particles interpolating between quorum sensing models used in the study of motility-induced phase separation (MIPS) and models of congestion of traffic flow on a single-lane highway. Particles…
This paper addresses the problem of estimating the modes of an observed non-stationary mixture signal in the presence of an arbitrary distributed noise. A novel Bayesian model is introduced to estimate the model parameters from the…
The identification of local modules in dynamic networks with known topology has recently been addressed by formulating conditions for arriving at consistent estimates of the module dynamics, under the assumption of having disturbances that…
Concatenated modal interferometers based multipoint sensing system for detection of instantaneous amplitude, frequency, and phase of mechanical vibrations is proposed and demonstrated. The sensor probes are fabricated using identical…
Consider a sensor network made of remote nodes connected to a common fusion center. In a recent work Blum and Sadler [1] propose the idea of ordered transmissions -sensors with more informative samples deliver their messages first- and…
Dynamic mode decomposition has emerged as a leading technique to identify spatiotemporal coherent structures from high-dimensional data, benefiting from a strong connection to nonlinear dynamical systems via the Koopman operator. In this…