相关论文: New method to characterize a machining system: app…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
This work presents the estimation of the parameters of an experimental setup, which is modeled as a system with three degrees of freedom, composed by a shaft, two rotors, and a DC motor, that emulates a drilling process. A Bayesian…
The describing function method is a useful tool for the qualitative analysis of limit cycles in the stability analysis of nonlinear systems. This method is inherently approximate; therefore, it should be used for a fast qualitative analysis…
Understanding the physical interaction with wearable robots is essential to ensure safety and comfort. However, this interaction is complex in two key aspects: (1) the motion involved, and (2) the non-linear behaviour of soft tissues.…
During the cutting process, material of the workpiece is continuously being removed by the cutting tool, which results in a reduction of mass as well as a displacement in the center of the workpiece mass. When using workpiece sided force…
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by…
This paper proposes a multitask learning framework for probabilistic model updating by jointly using strain and acceleration measurements. This framework can enhance the structural damage assessment and response prediction of existing steel…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
We consider the problem of estimating the location of a single change point in a dynamic stochastic block model. We propose two methods of estimating the change point, together with the model parameters. The first employs a least squares…
Entangled matter provides intriguing perspectives in terms of deformation mechanisms, mechanical properties, assembly and disassembly. However, collective entanglement mechanisms are complex, occur over multiple length scales, and they are…
Elastic strips provide a canonical system for studying the mechanisms governing elastic shape transitions. Buckling, linear snap-through, and nonlinear snap-through have been observed in boundary-actuated strips and linked to the type of…
A method is proposed for determining the line tension, which is the main physical characteristic of a three-phase contact region, by Monte-Carlo (MC) simulations. The key idea of the proposed method is that if a three-phase equilibrium…
This tutorial paper provides an introduction to recently developed tools for machine learning, especially learning dynamical systems (system identification), with stability and robustness constraints. The main ideas are drawn from…
The dynamic characteristics of near-field levitation bearings have been investigated in this study. Through theoretical analysis, two different types of system stiffness are defined and derived analytically. The dynamic stiffness relates…
Determination of the nature of the dynamical state of a system as a function of its parameters is an important problem in the study of dynamical systems. This problem becomes harder in experimental systems where the obtained data is…
The local and global dynamics of a sheared granular medium are studied in a model experiment as a function of several macroscopic parameters. We observe that by changing the shear rate or the loading stiffness, the system crackles, with…
Understanding mechanosensitivity, i.e. how cells sense the stiffness of their environment is very important, yet there is a fundamental difficulty in understanding its mechanism: to measure an elastic modulus one requires two points of…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…
For large-scale industrial processes under closed-loop control, process dynamics directly resulting from control action are typical characteristics and may show different behaviors between real faults and normal changes of operating…
The concepts of probability, statistics and stochastic theory are being successfully used in structural engineering. Markov Chain modelling is a simple stochastic process model that has found its application in both describing stochastic…