相关论文: Compliance error compensation technique for parall…
The optimal fault-tolerance achievable by any protocol has been characterized in a wide range of settings. For example, for state machine replication (SMR) protocols operating in the partially synchronous setting, it is possible to…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
A self-learning optimal control algorithm for episodic fixed-horizon manufacturing processes with time-discrete control actions is proposed and evaluated on a simulated deep drawing process. The control model is built during consecutive…
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and…
In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…
Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their precision performance. This article focuses on data-driven…
Model predictive control (MPC) is a powerful framework for optimal control of dynamical systems. However, MPC solvers suffer from a high computational burden that restricts their application to systems with low sampling frequency. This…
In stochastic control applications, typically only an ideal model (controlled transition kernel) is assumed and the control design is based on the given model, raising the problem of performance loss due to the mismatch between the assumed…
Compliant mechanisms are alternatives to conventional mechanisms which exploit elastic strain to produce desired deformations instead of using moveable parts. They are designed for a kinematic task (providing desired deformations) but do…
Mechanical systems are often characterized only by their response to certain loads known from experiments or simulations. The obtained data can be used for various purposes: system analysis, design of mathematical models, or construction of…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would…
In this work we propose and analyze a novel Hybrid High-Order discretization of a class of (linear and) nonlinear elasticity models in the small deformation regime which are of common use in solid mechanics. The proposed method is valid in…
Computationally intensive distributed and parallel computing is often bottlenecked by a small set of slow workers known as stragglers. In this paper, we utilize the emerging idea of "coded computation" to design a novel…
Parallel implementation of numerical adaptive mesh refinement (AMR)strategies for solving 3D elastostatic contact mechanics problems is an essential step toward complex simulations that exceed current performance levels. This paper…
A novel correction algorithm is proposed for multi-class classification problems with corrupted training data. The algorithm is non-intrusive, in the sense that it post-processes a trained classification model by adding a correction…
As the most essential part of CAD modeling operations, boolean operations on B-rep CAD models often suffer from errors. Errors caused by geometric precision or numerical uncertainty are hard to eliminate. They will reduce the reliability of…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
This paper proposes a higher-order multiscale computational method for nonlinear thermo-electric coupling problems of composite structures, which possess temperature-dependent material properties and nonlinear Joule heating. The innovative…