Related papers: Slip, Differentiate, Observe: State and Parameter …
In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when slip occurs, kinematic measurements violate the no-slip…
We present an approach for synthesising observational data with elastodynamic finite element models by extending the statistical finite element method (statFEM) framework. The proposed formulation adopts a Bayesian filtering approach to…
A new method has been proposed to evaluate the frictional force in the stationary state. This method is applied to the 1-dimensional model of clean surfaces. The kinetic frictional force is seen to depend on velocity in general, but the…
This paper introduces Spectral Fault Receptive Fields (SFRFs), a biologically inspired technique for degradation state assessment in bearing fault diagnosis and remaining useful life (RUL) estimation. Drawing on the center-surround…
This paper presents a model for detecting high-impedance faults (HIFs) using parameter error modeling and a two-step per-phase weighted least squares state estimation (SE) process. The proposed scheme leverages the use of phasor measurement…
The influence of out-of-plane oscillations on friction is a well-known phenomenon that has been studied extensively with various experimental methods, e.g. pin-on-disk tribometers. However, existing theoretical models have yet achieved only…
Conventional Bayesian estimation requires an accurate stochastic model of a system. However, this requirement is not always met in many practical cases where the system is not completely known or may differ from the assumed model. For such…
We propose a methodology for performing risk-averse quadratic regulation of partially observed Linear Time-Invariant (LTI) systems disturbed by process and output noise. To compensate against the induced variability due to both types of…
For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…
In dynamic systems that adapt to users' needs and changing environments, dependability needs cannot be avoided. This paper proposes an orthogonal fault tolerance model as a means to manage and reason about multiple fault tolerance…
We examine a simple mechanism for the spatio-temporal evolution of transient, slow slip. We consider the problem of slip on a fault that lies within an elastic continuum and whose strength is proportional to sliding rate. This rate…
This paper addresses the problem of nonlinear state estimation for dynamical systems whose governing equations are approximated through Koopman operator liftings. While Koopman-based predictors have demonstrated broad approximation…
Seismogenic areas on plate-boundary faults resist slipping until earthquakes begin. The delay in slip relative to plate motion, termed slip deficit, represents plate coupling as an interseismic proxy of seismic potential. However, when a…
This work investigates a three-dimensional slow-fast stochastic system with quadratic nonlinearity and additive noise, inspired by fluid dynamics. The deterministic counterpart exhibits a periodic orbit and a slow manifold. We demonstrate…
This paper addresses the challenging unsupervised scene flow estimation problem by jointly learning four low-level vision sub-tasks: optical flow $\textbf{F}$, stereo-depth $\textbf{D}$, camera pose $\textbf{P}$ and motion segmentation…
This paper aims at introducing a methodology to compute stable coupled state-space models for dynamic substructuring applications by introducing two novel approaches targeted to accomplish this task: a) a procedure to impose Newtons's…
Fast and Relaxed Vector Fitting (FRVF) is a frequency-domain system identification approach that has been widely adopted in electrical system modelling, while its application to mechanical systems has remained relatively unexplored. In this…
As the number of satellites in orbit has increased exponentially in recent years, ensuring their correct functionality has started to require automated methods to decrease human workload. In this work, we present an algorithm that analyzes…
The stability and control of Unmanned Aerial Vehicles (UAVs) in a turbulent environment is a matter of great concern. Devising a robust control algorithm to reject disturbances is challenging due to the highly nonlinear nature of wind…
Frictional sliding, e.g., earthquakes along geological faults, are mediated either by frictional crack-like ruptures, where interfacial (fault) slip is accumulated during the entire sliding event, or by frictional pulse-like ruptures,…