相关论文: Study of the Dynamic Coupling Term (\mu) in Parall…
This paper investigates the coexistence of non-orthogonal multiple access (NOMA) and full-duplex (FD) to improve both spectral efficiency (SE) and user fairness. In such a scenario, NOMA based on the successive interference cancellation…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Generalized policy and execution efficiency constitute the two critical challenges in robotic manipulation. While recent foundation policies benefit from the common-sense reasoning capabilities of internet-scale pretrained vision-language…
The present study proposes an active flow control (AFC) approach based on deep reinforcement learning (DRL) to optimize the performance of multiple plasma actuators on a square cylinder. The investigation aims to modify the control inputs…
A flow control framework based on linear stability analysis is proposed focusing on reducing the aerodynamic drag due to dynamic stall through a finite-window temporal actuation. The methodology is applied on a periodically plunging SD7003…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
Detrended fluctuation analysis (DFA) and detrended moving average (DMA) are two scaling analysis methods designed to quantify correlations in noisy non-stationary signals. We systematically study the performance of different variants of the…
Valveless pumping assists in fluid transport in various organisms and engineering systems. In a previous work, to study the actuator impact effects on valveless pumping, we constructed a piecewise-linear lumped-parameter model for a…
This study proposes a dynamic coupling-informed trajectory optimization algorithm for free-floating space manipulator systems (SMSs). Dynamic coupling between the base and the manipulator arms plays a critical role in influencing the…
Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy…
Flow-Induced Vibrations (FIV) of an elastically mounted circular cylinder are investigated by means of two-dimensional simulations. A mechanical coupling between cross-flow translation and rotation provides a single degree-of-freedom system…
Recently, representation learning over graph networks has gained popularity, with various models showing promising results. Despite this, several challenges persist: 1) most methods are designed for static or discrete-time dynamic graphs;…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
Change detection has been a hotspot in remote sensing technology for a long time. With the increasing availability of multi-temporal remote sensing images, numerous change detection algorithms have been proposed. Among these methods, image…
Mobile and embedded platforms are increasingly required to efficiently execute computationally demanding DNNs across heterogeneous processing elements. At runtime, the available hardware resources to DNNs can vary considerably due to other…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various well-known…
This work is associated with the use of parallel feedforward compensators (PFCs) for the problem of output synchronization over heterogeneous agents and the benefits this approach can provide. Specifically, it addresses the addition of…
We use the methodology of singular spectrum analysis (SSA), principal component analysis (PCA), and multi-fractal detrended fluctuation analysis (MFDFA), for investigating characteristics of vibration time series data from a friction brake.…