相关论文: A Hybrid Dynamical Modeling Framework for Shape Me…
We have developed a simulation code with the techniques which enhance both spatial and time resolution of the PM method for which the spatial resolution is restricted by the spacing of structured mesh. The adaptive mesh refinement (AMR)…
Structural phase transitions serve as the basis for many functional applications including shape memory alloys (SMAs), switches based on metal-insulator transitions (MITs), etc. In such materials, lattice incompatibility between phases…
The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing…
This work presents a finite-strain version of an established three-dimensional constitutive model for polycrystalline shape memory alloys (SMA) that is able to account for the large deformations and rotations that SMA components may…
Parametric human body models are foundational to human reconstruction, animation, and simulation, yet they remain mutually incompatible: SMPL, SMPL-X, MHR, Anny, and related models each diverge in mesh topology, skeletal structure, shape…
Human activity recognition (HAR) from inertial sensors is essential for ubiquitous computing, mobile health, and ambient intelligence. Conventional deep models such as Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs),…
The elastocaloric (eC) effects of natural rubber (NR) and shape memory alloys (SMAs) are compared and potential improvement for eC performances of SMAs is proposed. Both the plateau and hysteresis of stress-strain curve in NR and SMAs are…
A dynamic systems model is proposed describing memory resistors which include a filament conductive bridge. In this model the system state is defined by both a dynamic tunneling barrier (associated with the filament-electrode gap) and a…
This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model…
State Space Models (SSMs) are efficient alternatives to traditional sequence models, excelling at processing long sequences with lower computational complexity. Their reliance on matrix multiplications makes them ideal for compute-in-memory…
In this paper we present a shape optimization scheme which utilizes the alternating direction method of multipliers (ADMM) to approximate a direction of steepest descent in $W^{1,\infty}$. The followed strategy is a combination of the…
The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Embedded optimization-based planning for hybrid systems is challenging due to the use of mixed-integer programming, which is computationally intensive and often sensitive to the specific numerical formulation. To address that challenge,…
Multiphase flows are an important class of fluid flow and their study facilitates the development of diverse applications in industrial, natural, and biomedical systems. We consider a model that uses a continuum description of both phases…
Applications of force control and motion planning often rely on an inverse dynamics model to represent the high-dimensional dynamic behavior of robots during motion. The widespread occurrence of low-velocity, small-scale, locally isotropic…
This paper proposes a novel hybrid control framework for switched linear parameter-varying (LPV) systems under hysteresis switching logic. By introducing a controller state-reset mechanism, the hybrid LPV synthesis problem is reformulated…
A self-consistent model for the simulation of Ge-rich Ge$_2$Sb$_2$Te$_5$ phase change memories is presented. Combining the multi-phase field model and a phase-aware electro-thermal solver, it reproduces the multi-physics behavior of the…
End-to-end imitation learning frameworks (e.g., VLA) are increasingly prominent in robotics, as they enable rapid task transfer by learning directly from perception to control, eliminating the need for complex hand-crafted features.…
The charge exchange between the interstellar medium (ISM) and the solar wind plasma is crucial for determining the structures of the heliosphere. Since both the neutral-ion and neutral-neutral collision mean free paths are either comparable…