相关论文: Study of the Dynamic Coupling Term (\mu) in Parall…
An overview is given on two representative methods of dynamical reduction known as center-manifold reduction and phase reduction. These theories are presented in a somewhat more unified fashion than the theories in the past. The target…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Stop-and-go traffic poses many challenges to tranportation system, but its formation and mechanism are still under exploration.however, it has been proved that by introducing Connected Automated Vehicles(CAVs) with carefully designed…
Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…
A numerical simulation method of computational fluid dynamics (CFD) coupling with a trim analysis for coaxial rotor systems is described in this paper. The trim analysis is implemented using a rotorcraft flow solver, rFlow3D. Six target…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
A core issue in multi-agent federated reinforcement learning is defining how to aggregate insights from multiple agents. This is commonly done by taking the average of each participating agent's model weights into one common model (FedAvg).…
Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…
Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that…
We study the use of the System Optimum (SO) Dynamic Traffic Assignment (DTA) problem to design optimal traffic flow controls for freeway networks as modeled by the Cell Transmission Model, using variable speed limit, ramp metering, and…
Federated learning (FL) has attracted increasing attention as a promising approach to driving a vast number of end devices with artificial intelligence. However, it is very challenging to guarantee the efficiency of FL considering the…
Acquiring dexterous robotic skills from human video demonstrations remains a significant challenge, largely due to conventional reliance on low-level trajectory replication, which often fails to generalize across varying objects, spatial…
This paper proposes a general framework to evaluate power system strength. The formulation features twelve indicators, grouped in three dynamical orders, that quantify the resistance of bus voltage phasors and their first and second order…
The front-end factor analysis (FEFA), an extension of principal component analysis (PPCA) tailored to be used with Gaussian mixture models (GMMs), is currently the prevalent approach to extract compact utterance-level features (i-vectors)…
In this paper, we derive a new Kalman filter with probabilistic data association between measurements and states. We formulate a variational inference problem to approximate the posterior density of the state conditioned on the measurement…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
We propose an active inference agent to identify and control a mechanical system with multiple bodies connected by joints. This agent is constructed from multiple scalar autoregressive model-based agents, coupled together by virtue of…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Flexible coupler is a promising solution for enhancing wireless network capacity by moving passive couplers around a fixed-position active antenna to reshape the induced currents on passive elements. Motivated by this, this paper proposes a…