Related papers: Stiffness Optimization for Concentrated Bending in…
This paper considers the context of multiuser massive MIMO downlink precoding with low-resolution digital-to-analog converters (DACs) at the transmitter. This subject is motivated by the consideration that it is expensive to employ…
In this paper, we propose a full-duplex integrated sensing and communication (ISAC) system enabled by a movable antenna (MA). By leveraging the characteristic of MA that can increase the spatial diversity gain, the performance of the system…
Graph transformers achieve strong results on molecular and long-range reasoning tasks, yet remain hampered by over-smoothing (the progressive collapse of node representations with depth) and attention entropy degeneration. We observe that…
This paper studies a novel movable antenna (MA)-enhanced multiple-input multiple-output (MIMO) system to leverage the corresponding spatial degrees of freedom (DoFs) for improving the performance of wireless communications. We aim to…
The aim of this study is to analyse the influence of the mechanical characteristics of the set of components on the critical rotational speeds of a gearbox. The case of a gearbox fitted out with a helical gear pair was considered. The…
We consider possibilities to control dynamics of solitons of two types, maintained by the combination of cubic attraction and spin-orbit coupling (SOC) in a two-component system, namely, semi-dipoles (SDs) and mixed modes (MMs), by making…
Orographic soaring can significantly extend the endurance of micro aerial vehicles (MAVs), but circling behavior, arising from control conflicts between the longitudinal and vertical axes, increases energy consumption and the risk of…
Four adaptations of the smoothed aggregation algebraic multigrid (SA-AMG) method are proposed with an eye towards improving the convergence and robustness of the solver in situations when the discretization matrix contains many weak…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
Voltage regulation under conventional grid-forming controllers is tightly coupled to power sharing and dc-link dynamics. Consequently, its tracking accuracy deteriorates during grid faults, sudden power sharing changes, or dc-bus voltage…
Measuring the magnetoresistance (MR) of ultraclean {\it GaAs} two-dimensional holes in a large $r_s$ range of 20-50, two striking behaviors in relation to the spin-orbit coupling (SOC) emerge in response to strong electron-electron…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
In this paper, we presented a data-driven framework to optimize the out-of-plane stiffness for soft grippers to achieve mechanical properties as hard-to-twist and easy-to-bend. The effectiveness of this method is demonstrated in the design…
We propose a novel stochastic smoothing accelerated gradient (SSAG) method for general constrained nonsmooth convex composite optimization, and analyze the convergence rates. The SSAG method allows various smoothing techniques, and can deal…
The determination of the stiffness center of a machine tool is a major element for knowing the dynamic behavior of this one. This stiffness center can be obtained from a static characterization of the machine tool. For an operation of…
The self-attention mechanism (SAM) is widely used in various fields of artificial intelligence and has successfully boosted the performance of different models. However, current explanations of this mechanism are mainly based on intuitions…
This study presents a modular, electronics-free, and fully onboard control and actuation approach for SMA-based soft robots to achieve locomotion tasks. This approach exploits the nonlinear mechanics of compliant curved beams and carefully…
This paper seeks to address how to solve non-smooth convex and strongly convex optimization problems with functional constraints. The introduced Mirror Descent (MD) method with adaptive stepsizes is shown to have a better convergence rate…
Dropped Head Syndrome (DHS) causes a passively correctable neck deformation. Currently, there is no wearable orthopedic neck brace to fulfill the needs of persons suffering from DHS. Related works have made progress in this area by creating…