相关论文: Nonsmooth Mechanics Based on Linear Projection Ope…

Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…

Non-smooth optimization is a core ingredient of many imaging or machine learning pipelines. Non-smoothness encodes structural constraints on the solutions, such as sparsity, group sparsity, low-rank and sharp edges. It is also the basis for…

We consider linear time invariant systems with exogenous stochastic disturbances, and in feedback with structured stochastic uncertainties. This setting encompasses linear systems with both additive and multiplicative noise. Our concern is…

The modeling of nonlinear dynamics based on Koopman operator theory, which is originally applicable only to autonomous systems with no control, is extended to non-autonomous control system without approximation to input matrix B. Prevailing…

A self-consistent projection operator method for single-particle excitations is developed. It describes the nonlocal correlations on the basis of a projection technique to the retarded Green function and the off-diagonal effective medium.…

We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the…

This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation…

The introduced earlier projection method for boost-invariant and cylindrically symmetric systems is used to introduce a new formulation of anisotropic hydrodynamics that allows for three substantially different values of pressure acting…

Use of harmonic guiding potentials is the most common method for implementing steered molecular dynamics (SMD) simulations, performed to obtain potentials of mean force (PMFs) of molecular systems using non-equilibrium work (NEW) theorems.…

The paper presents an improved mass balancing procedure for fast rotating machinery, while it is being rotated at speeds considerably slower than the "critical speeds", where dangerously high vibration amplitudes may arise. By utilizing…

Spatio-temporal prediction of levels of an environmental exposure is an important problem in environmental epidemiology. Our work is motivated by multiple studies on the spatio-temporal distribution of mobile source, or traffic related,…

We extend the theory of spectral submanifolds (SSMs) to general non-autonomous dynamical systems that are either weakly forced or slowly varying. Examples of such systems arise in structural dynamics, fluid-structure interactions and…

With this contribution, we give a complete and comprehensive framework for modeling the dynamics of complex mechanical structures as port-Hamiltonian systems. This is motivated by research on the potential of lightweight construction using…

This paper aims at reviewing nonlinear methods for model order reduction of structures with geometric nonlinearity, with a special emphasis on the techniques based on invariant manifold theory. Nonlinear methods differ from linear based…

In recently proposed stabilisation techniques for parabolic equations, a crucial role is played by a suitable sequence of oblique projections in Hilbert spaces, onto the linear span of a suitable set of M actuators, and along the subspace…

World models promise a paradigm shift in robotics, where an agent learns the underlying physics of its environment once to enable efficient planning and behavior learning. However, current world models are often hardware-locked specialists:…

Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced (typically model-based) techniques for the analysis and…

Non-intrusive reduced-order modeling techniques are necessary for systems that are simulated using black-box solvers or known only from data. For systems exhibiting large transients and operating far away from equilibria, current…

A reactive obstacle avoidance method for mobile manipulators is presented. The objectives of the developed algorithm are twofold. The first one is to find a trajectory in the configuration space of a mobile manipulator so as to follow a…

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…