相关论文: Sensitivity analysis for the active manipulation o…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…
We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…
In this paper, we introduce a frequency-domain approach to extract information on the trajectory of a moving point source. The method hinges on the analysis of multi-frequency near-field data recorded at one and sparse observation points in…
Induction-transduction of activating-deactivating points are fundamental mechanisms of action that underlie innumerable systems and phenomena, mathematical, natural, and anthropogenic, and can exhibit complex behaviors such as…
The availability of large spatial data geocoded at accurate locations has fueled a growing interest in spatial modeling and analysis of point processes. The proposed research is motivated by the intensity estimation problem for large…
Experiments aimed at searching for variations in the fine-structure constant $\alpha$ are based on spectroscopy of transitions in microscopic bound systems, such as atoms and ions, or resonances in optical cavities. The sensitivities of…
Stochastic Spatio-Temporal processes are prevalent across domains ranging from modeling of plasma to the turbulence in fluids to the wave function of quantum systems. This letter studies a measure-theoretic description of such systems by…
This paper proposes a method to vibration analysis in order to on-line monitoring of milling process quality. Adapting envelope analysis to characterize the milling tool materials is an important contribution to the qualitative and…
We discuss the implementation details and the numerical performance of the recently introduced nonconforming Trefftz virtual element method for the 2D Helmholtz problem. In particular, we present a strategy to significantly reduce the…
Heat transfer in the human eyeball, a complex organ, is significantly influenced by various pathophysiological and external parameters. Particularly, heat transfer critically affects fluid behavior within the eye and ocular drug delivery…
Control of quantum systems via time-varying external fields optimized to maximize a fidelity measure at a given time is a mainstay in modern quantum control. However, save for specific systems, current analysis techniques for such quantum…
In this paper we consider a robust identification problem for a linear dynamical control system with limited-frequency intervals. In mathematical terms, this is the problem of recovering functions in Hardy spaces. Our purpose is to bound…
The effect of inaccuracies in the parameters of a dynamic Bayesian network can be investigated by subjecting the network to a sensitivity analysis. Having detailed the resulting sensitivity functions in our previous work, we now study the…
In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…
Online algorithms for detecting changepoints, or abrupt shifts in the behavior of a time series, are often deployed with limited resources, e.g., to edge computing settings such as mobile phones or industrial sensors. In these scenarios it…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Active vibration control has been introduced and used as one of the effective approaches to suppress unwanted vibrations in different systems. Effective performance of each vibration control method is contingent to accurate design and…
In this letter, we describe a very general procedure to obtain a causal fit of the permittivity of materials from experimental data with very few parameters. Unlike other closed forms proposed in the literature, the particularity of this…
Panel-based, kernel-split quadrature is currently one of the most efficient methods available for accurate evaluation of singular and nearly singular layer potentials in two dimensions. However, it can fail completely for the layer…