Related papers: EBIF: Exact Bilinearization Iterative Form for Con…
Existing light field representations, such as epipolar plane image (EPI) and sub-aperture images, do not consider the structural characteristics across the views, so they usually require additional disparity and spatial structure cues for…
In a recent article, we presented a framework to control nonlinear partial differential equations (PDEs) by means of Koopman operator based reduced models and concepts from switched systems. The main idea was to transform a control system…
Recent literature has shown how linear time-invariant (LTI) systems can be represented by trajectories features, that is relying on a single input-output (IO) data dictionary to span all possible system trajectories, as long as the input is…
Elliptic interface problems whose solutions are $C^0$ continuous have been well studied over the past two decades. The well-known numerical methods include the strongly stable generalized finite element method (SGFEM) and immersed FEM…
High-dimensional spatio-temporal dynamics can often be encoded in a low-dimensional subspace. Engineering applications for modeling, characterization, design, and control of such large-scale systems often rely on dimensionality reduction to…
Linear parameter-varying (LPV) models form a powerful model class to analyze and control a (nonlinear) system of interest. Identifying an LPV model of a nonlinear system can be challenging due to the difficulty of selecting the scheduling…
Effective control requires knowledge of the process dynamics to guide the system toward desired states. In many control applications this knowledge is expressed mathematically or through data-driven models, however, as complexity grows…
While linear systems are well-understood, no explicit solution for general nonlinear systems exists. A classical approach to make the understanding of linear system available in the nonlinear setting is to represent a nonlinear system by a…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
We present a robust and efficient numerical framework based on a median filter scheme for solving a broad class of interface-related optimization problems, from image segmentation to topology optimization. A key innovation of our work is…
In this paper, we present a nonlinear version of the linear elasticity (Calabi, Kr\"oner, Riemannian deformation) complex which encodes isometric embedding, metric, curvature and the Bianchi identity. We reformulate the rigidity theorem and…
We present a new solution for fundamental problems in nonlinear dynamical systems: finding, verifying, and stabilizing cycles. The solution we propose consists of a new control method based on mixing previous states of the system (or the…
This paper develops and implements an algorithm to compute sequences of polytopic Robust Forward Invariant Sets (RFIS) that can parametrically vary in size between the maximal and minimal RFIS of a nonlinear dynamical system. This is done…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
We introduce a refined immersed boundary (IB) methodology that is better-than-first-order accurate in practice, while preserving key properties of "continuous-forcing" IB approaches that retain a singular source term in the governing…
We consider the evolution of interfaces in binary mixtures permeating strongly heterogeneous systems such as porous media. To this end, we first review available thermodynamic formulations for binary mixtures based on \emph{general…
We combine the parameterization method for invariant manifolds with the finite element method for elliptic PDEs,to obtain a new computational framework for high order approximation of invariant manifolds attached to unstable equilibrium…
We study in this paper the problem of adaptive trajectory tracking for nonlinear systems affine in the control with bounded state-dependent and time-dependent uncertainties. We propose to use a modular approach, in the sense that we first…
Accurate representations of 3D faces are of paramount importance in various computer vision and graphics applications. However, the challenges persist due to the limitations imposed by data discretization and model linearity, which hinder…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…