Related papers: Slip, Differentiate, Observe: State and Parameter …

The problem of detecting and identifying sensor faults is critical for efficient, safe, regulatory-compliant and sustainable operations of modern systems. Their increasing complexity brings new challenges for the Sensor Fault Detection and…

We discuss the stick-slip motion of an elastic block sliding along a rigid substrate. We argue that for a given external shear stress this system shows a discontinuous nonequilibrium transition from a uniform stick state to uniform sliding…

This work presents a fast, uncertainty-aware sequential data assimilation framework for estimating key aerodynamic states (e.g., instantaneous vorticity fields and aerodynamic loads) during severe gust encounters, where vortex-gust…

This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…

This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…

To study the microscopic origins of friction, we build a framework to describe the collective behaviour of a large number of individual micro-junctions forming a macroscopic frictional interface. Each micro-junction can switch in time…

State estimation or filtering serves as a fundamental task to enable intelligent decision-making in applications such as autonomous vehicles, robotics, healthcare monitoring, smart grids, intelligent transportation, and predictive…

We study a regularisation of Coulomb's friction law on the propagation of local slip at an interface between a deformable and a rigid solid. This regularisation, which was proposed based on experimental observations, smooths the effect of a…

Flutter flight test involves the evaluation of the airframes aeroelastic stability by applying artificial excitation on the aircraft lifting surfaces. The subsequent responses are captured and analyzed to extract the frequencies and damping…

State estimation of nonlinear dynamical systems has long aimed to balance accuracy, computational efficiency, robustness, and reliability. The rapid evolution of various industries has amplified the demand for estimation frameworks that…

This article presents a novel perspective along with a scalable methodology to design a fault detection and isolation (FDI) filter for high dimensional nonlinear systems. Previous approaches on FDI problems are either confined to linear…

This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit…

Frictional motion is harder to initiate than to sustain, as evident when pushing a heavy object. This disparity between static and kinetic friction drives instabilities and stick-slip dynamics in systems ranging from nanodevices and MEMS to…

Accurate estimation of the tire slip ratio is critical for vehicle safety, as it is necessary for vehicle control purposes. In this paper, an intelligent tire system is presented to develop a novel slip ratio estimation model using machine…

Friction plays a fundamental role in many natural processes, including earthquakes, landslides, and volcanic eruptions. Earthquakes occur when highly compressed fault surfaces accumulate large enough shear stresses, causing the faults to…

To better understand the mechanics of injection-induced seismicity, we developed a two-dimensional numerical code to simulate both seismic and aseismic slip on non-planar faults and fault networks driven by fluid diffusion along permeable…

In high-renewable power systems, active-power disturbances are becoming larger and exhibit increasingly diverse time scales, which complicates frequency stability assessment under unanticipated events. This paper presents a response-based…

This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…

Policy-gradient methods are widely used in reinforcement learning, yet training often becomes unstable or slows down as learning progresses. We study this phenomenon through the noise-to-signal ratio (NSR) of a policy-gradient estimator,…

The ability to detect when a system undergoes an incipient fault is of paramount importance in preventing a critical failure. Classic methods for fault detection (including model-based and data-driven approaches) rely on thresholding error…