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This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
This article proposes a new approach based on finite-horizon parameterizing manifolds (PMs) for the design of low-dimensional suboptimal controllers to optimal control problems of nonlinear partial differential equations (PDEs) of parabolic…
Optimal weighted Sobolev-Lorentz embeddings with homogeneous weights in open convex cones are established, with the exact value of the optimal constant. These embeddings are non-compact, and this paper investigates the structure of their…
This study presents the analytical and finite element formulation of a geometrically nonlinear and fractional-order nonlocal model of an Euler-Bernoulli beam. The finite nonlocal strains in the Euler-Bernoulli beam are obtained from a…
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outliers through robust loss functions, it…
Measuring the dynamics and mechanical properties of muscles and joints is important to understand the (patho)physiology of muscles. However, acquiring dynamic time-resolved MRI data is challenging. We have previously developed…
The archetypal instability of a structure is associated with the eponymous Euler beam, modeled as an inextensible curve which exhibits a supercritical bifurcation at a critical compressive load. In contrast, a soft compressible beam is…
This paper considers a formulation of the robust adaptive beamforming (RAB) problem based on worst-case signal-to-interference-plus-noise ratio (SINR) maximization with a nonconvex uncertainty set for the steering vectors. The uncertainty…
Majority-vote ensembles achieve variance reduction by averaging over diverse, approximately independent base learners. When training data exhibits Markov dependence, as in time-series forecasting, reinforcement learning (RL) replay buffers,…
Undersampled inverse problems occur everywhere in the sciences including medical imaging, radar, astronomy etc., yielding underdetermined linear or non-linear reconstruction problems. There are now a myriad of techniques to design decoders…
In electrical impedance tomography, algorithms based on minimizing a linearized residual functional have been widely used due to their flexibility and good performance in practice. However, no rigorous convergence results have been…
We address the problem of learning an unknown smooth function and its derivatives from noisy pointwise evaluations under the supremum norm. While classical nonparametric regression provides a strong theoretical foundation, traditional…
We consider the time dependent Euler--Bernoulli beam equation with discontinuous and singular coefficients. Using an extension of the H\"ormander product of distributions with non-intersecting singular supports [L. H\"ormander, The Analysis…
This paper explores a fully discrete approximation for a nonlinear hyperbolic PDE-constrained optimization problem (P) with applications in acoustic full waveform inversion. The optimization problem is primarily complicated by the…
We present direct observation of the ring-down dynamics in the rotating frame of a resonantly driven single-mode nonlinear nanomechanical resonator. An additional close to resonance harmonic force excites nonlinear oscillations about the…
In this paper, we are interested in the analysis of a well-known free boundary/shape optimization problem motivated by some issues arising in population dynamics. The question is to determine optimal spatial arrangements of favorable and…
In this paper, the bending behaviour of small-scale Bernoulli-Euler beams is investigated by Eringen's two-phase local/nonlocal theory of elasticity. Bending moments are expressed in terms of elastic curvatures by a convex combination of…
We consider a simply-supported Euler-Bernoulli beam with viscous and Kelvin--Voigt damping. Our objective is to attenuate the effect of an unknown distributed disturbance using one piezoelectric actuator. We show how to design a suitable…
Stability and stabilization of linear port-Hamiltonian systems on infinite-dimensional spaces are investigated. This class is general enough to include models of beams and waves as well as transport and Schr\"odinger equations with boundary…