相关论文: Identification of Motor Parameters on Coupled Join…
We model analytically the dynamics of a cytoskeletal filament in a motility assay. The filament is described as rigid rod free to slide in two dimensions. The motor proteins consist of polymeric tails tethered to the plane and modeled as…
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our…
In-circuit impedance provides key information for many EMC applications. The inductive coupling approach is a promising method for in-circuit impedance measurement because its measurement setups have no direct electrical contact with the…
Robotic systems for legged locomotion -- including legged robots, exoskeletons, and prosthetics -- require actuators with low inertia and high output torque. Traditionally, motors have been selected for these applications by maximizing the…
Factor analysis models explain dependence among observed variables by a smaller number of unobserved factors. A main challenge in confirmatory factor analysis is determining whether the factor loading matrix is identifiable from the…
We address the problem of verifying closed-loop contraction in nonlinear control systems whose controller and contraction metric are both parameterized by neural networks. By leveraging interval analysis and interval bound propagation, we…
In this paper, we study the applicability of an early warning index while studying the transitions to complete and generalized synchronizations in the coupled oscillator models using an unconventional system parameter and the coupling…
System Identification of Hydraulic Actuators is critical for analyzing their performance and designing a suitable Control System. Hydraulic actuators are extensively used in many applications, ranging from flight simulators, robotics,…
This work introduces a methodology for the calculation of the load distribution in four-point contact slewing bearings considering ball preload, manufacturing errors and ring flexibility. The model is built by the formulation and…
Knots are entangled structures that cannot be untangled without a cut. Topological stability of knots is one of the many examples of their important properties that can be used in information storage and transfer. Knot dynamics is important…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
We show that local correlators in a wide class of kicked chains can be calculated exactly at light cone edges. Extending previous works on dual-unitary systems, the correlators between local operators are expressed through the expectation…
Local-nonlocal coupling approaches combine the computational efficiency of local models and the accuracy of nonlocal models. However, the coupling process is challenging, requiring expertise to identify the interface between local and…
The loss of stability of induction motor controlled by Indirect Field Oriented Control (IFOC) is a matter of great concern of operators and design engineers. This paper reports indices to detect and predict stability problem such as system…
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design…
Friction modeling plays a crucial role in achieving high-precision motion control in robotic operating systems. Traditional static friction models (such as the Stribeck model) are widely used due to their simple forms; however, they…
It is increasingly common to model, simulate, and process complex materials based on loopy structures, such as in yarn-level cloth garments, which possess topological constraints between inter-looping curves. While the input model may…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
The work dissipated in pulling a polymer chain with internal friction is numerically calculated by considering a sequence of $N$ bead-spring-dashpots tethered at one end and being pulled at the other using a harmonic trap via linear and…
The major issue for the wheeled mobile robot is the low level controller gains tuning up especially in the robot competition. The floor surface can be damaged by the robot wheels during the competition, therefore the surface coefficient can…