相关论文: A Method to use Nonlinear Dynamics in a Whisker Se…

Learning and forecasting stochastic time series is essential in various scientific fields. However, despite the proposals of nonlinear filters and deep-learning methods, it remains challenging to capture nonlinear dynamics from a few noisy…

Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their precision performance. This article focuses on data-driven…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Fractional models and their parameters are sensitive to changes in the intrinsic micro-structures of anomalous materials. We investigate how such physics-informed models propagate the evolving anomalous rheology to the nonlinear dynamics of…

Unlike their large-scale counterparts, small-scale robots are largely confined to laboratory environments and are rarely deployed in real-world settings. As robot size decreases, robot-terrain interactions fundamentally change; however,…

While local basis function (LBF) estimation algorithms, commonly used for identifying/tracking systems with time-varying parameters, demonstrate good performance under the assumption of normally distributed measurement noise, the estimation…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

The method of location and spectral estimation of weak signals on a noise background is being considered. The method is based on the optimized on order and noise dispersion autoregressive model of a sought signal. A new approach of model…

Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion…

Here we propose and investigate a novel vibrissal tactile sensor - the TacWhisker array - based on modifying a 3D-printed optical cutaneous (fingertip) tactile sensor - the TacTip. Two versions are considered: a static TacWhisker array…

This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…

In countries with a moderate seismic hazard, the classical methods developed for strong motion prone countries to estimate the seismic behaviour and subsequent vulnerability of existing buildings are often inadequate and not financially…

Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…

We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…

Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…

This work addresses friction-induced modal interactions in jointed structures, and their effects on the passive mitigation of vibrations by means of friction damping. Under the condition of (nearly) commensurable natural frequencies, the…

Dynamic speckle method is an effective tool for estimation of speed of processes. Speed distribution is encoded in a map built by statistical pointwise processing of time-correlated speckle patterns. For industrial inspection,the outdoor…

Vibration signals have been increasingly utilized in various engineering fields for analysis and monitoring purposes, including structural health monitoring, fault diagnosis and damage detection, where vibration signals can provide valuable…

Robustness to environmental noise is important to creating automatic speech emotion recognition systems that are deployable in the real world. Prior work on noise robustness has assumed that systems would not make use of sample-by-sample…

Electron resonant scattering by high-frequency electromagnetic whistler-mode waves has been proposed as a mechanism for solar wind electron scattering and pre-acceleration to energies that enable them to participate in shock drift…