Related papers: Stiffness Optimization for Concentrated Bending in…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
We report the observation of tunable spin-orbit coupling (SOC) for ultracold $^{87}$Rb atoms in hyperfine spin-1 states. Different from most earlier experiments where atomic SOC of pseudo-spin-1/2 are synthesized with Raman coupling lasers,…
We characterize the pre-softmax attention matrix $\mathbf{QK^\top}$ in transformers as an associative memory matrix encoding pairwise associations between input features. By decomposing this matrix into its symmetric and skew-symmetric…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
Accurate segmentation of aortic vascular structures is critical for diagnosing and treating cardiovascular diseases.Traditional Transformer-based models have shown promise in this domain by capturing long-range dependencies between vascular…
Movable antenna (MA) is a promising technology for improving the performance of wireless communication systems by providing new degrees-of-freedom (DoFs) in antenna position optimization. However, existing works on MA systems have mostly…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulation and can mobilize as…
Few-shot segmentation (FSS) aims to segment new classes using few annotated images. While recent FSS methods have shown considerable improvements by leveraging Segment Anything Model (SAM), they face two critical limitations: insufficient…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…
Movable antennas (MAs) represent a promising paradigm to enhance the spatial degrees of freedom of conventional multi-antenna systems by dynamically adapting the positions of antenna elements within a designated transmit area. In…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
This work focuses on the robust optimization of a permanent magnet (PM) synchronous machine while considering a driving cycle. The robustification is obtained by considering uncertainties of different origins. Firstly, there are geometrical…
We study optical cavity locking for laser stabilization through spatial modulation of the phase front of a light beam. A theoretical description of the underlying principle is developed for this method and special attention is paid to…
We study the spin squeezing in a spin-1/2 Bose-Einstein condensates (BEC) with Raman induced spin-orbit coupling (SOC). Under the condition of two-photon resonance and weak Raman coupling strength, the system possesses two degenerate ground…
Anisotropic magnetoresistance (AMR), originating from spin-orbit coupling (SOC), is the sensitivity of the electrical resistance in magnetic systems to the direction of spin magnetization. Although this phenomenon has been experimentally…
Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…
Movable antenna (MA) provides an innovative way to arrange antennas that can contribute to improved signal quality and more effective interference management. This technology is especially beneficial for co-frequency co-time full-duplex…
Second-order methods promise improved stability and faster convergence, yet they remain underused due to implementation overhead, tuning brittleness, and the lack of composable APIs. We introduce Somax, a composable Optax-native stack that…