相关论文: Cartesian stiffness matrix of manipulators with pa…

We give the first mathematically rigorous analysis of an emerging approach to finite element analysis (see, e.g., Bauer et al. [Appl. Numer. Math., 2017]), which we hereby refer to as the surrogate matrix methodology. This methodology is…

To analyze nonlinear dynamic systems, we developed a new technique based on the square matrix method. We propose this technique called the \convergence map" for generating particle stability diagrams similar to the frequency maps widely…

Gaussian process (GP) modulated Cox processes are widely used to model point patterns. Existing approaches require a mapping (link function) between the unconstrained GP and the positive intensity function. This commonly yields solutions…

We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…

This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…

Some algorithms for the numerically exact treatment of fermion determinants are summarised. This is not supposed to be a review, rather a concise handbook. The audience is expected to have a basic understanding of how to put fermions on a…

We propose a general proximal algorithm for the inversion of ill-conditioned matrices. This algorithm is based on a variational characterization of pseudo-inverses. We show that a particular instance of it (with constant regularization…

In this letter, we analytically investigate the sensitivity of stability index to its dependent variables in general power systems. Firstly, we give a small-signal model, the stability index is defined as the solution to a semidefinite…

The performance of finite element solvers on modern computer architectures is typically memory bound for sufficiently large problems. The main cause for this is that loading matrix elements from RAM into CPU cache is significantly slower…

We develop a general approach for monitoring and controlling evolution of open quantum systems. In contrast to the master equations describing time evolution of density operators, here, we formulate a dynamical equation for the evolution of…

In this paper, we consider a model reduction technique for stabilizable and detectable stochastic systems. It is based on a pair of Gramians that we analyze in terms of well-posedness. Subsequently, dominant subspaces of the stochastic…

This note presents a summary and review of various conditions and characterizations for matrix stability (in particular diagonal matrix stability) and matrix stabilizability.

Explicit stabilized methods are an efficient alternative to implicit schemes for the time integration of stiff systems of differential equations in large dimension. In this paper, we derive explicit stabilized integrators of orders one and…

Monte-Carlo valuation engines can generate pathwise sensitivities of a derivative value with respect to a high-dimensional vector of model primitives. Hedge ratios with respect to market instruments are then linked to these primitive…

We consider a network of identical piecewise smooth systems that synchronizes on the manifold given by a periodic orbit of a single agent. We explicitly characterize the fundamental matrix solution of the network along the synchronous…

We provide an alternative Fourier analysis for multigrid applied to the Poisson problem in 1D, based on explicit derivation of spectra of the iteration matrix. The new Fourier analysis has advantages over the existing one. It is easy to…

It is common in functional data analysis to look at a set of related functions: a set of learning curves, a set of brain signals, a set of spatial maps, etc. One way to express relatedness is through an additive model, whereby each…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…

Tensor analysis provides a frame-invariant foundation for continuum mechanics, yet numerical implementations rely on matrix representations expressed in user-selected bases. When these bases are non-Cartesian and non-orthonormal, additional…