相关论文: Characterizing Error in Noncommutative Geometric G…

A method for adaptive model order reduction for nonsmooth discrete element simulation is developed and analysed in numerical experiments. Regions of the granular media that collectively move as rigid bodies are substituted with rigid bodies…

This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…

We use gauge-invariant cosmological perturbation theory to calculate the displacement field that sets the initial conditions for $N$-body simulations. Using first and second-order fully relativistic perturbation theory in the…

This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory estimates with track-level uncertainties. This metric…

This paper presents a probabilistic approach to represent and quantify model-form uncertainties in the reduced-order modeling of complex systems using operator inference techniques. Such uncertainties can arise in the selection of an…

To describe non-equilibrium transport processes in a quantum device with infinite baths, we propose to formulate the problems as a reduced-order problem. Starting with the Liouville-von Neumann equation for the density-matrix, the…

In many contexts the modal properties of a structure change, either due to the impact of a changing environment, fatigue, or due to the presence of structural damage. For example during flight, an aircraft's modal properties are known to…

A multi-scale method for the hyperbolic systems governing sediment transport in subcritical case is developed. The scale separation of this problem is due to the fact that the sediment transport is much slower than flow velocity. We first…

We study the problem of fitting circles (or circular arcs) to data points observed with errors in both variables. A detailed error analysis for all popular circle fitting methods -- geometric fit, Kasa fit, Pratt fit, and Taubin fit -- is…

Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…

Gait recognition from video streams is a challenging problem in computer vision biometrics due to the subtle differences between gaits and numerous confounding factors. Recent advancements in self-supervised pretraining have led to the…

This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks. Key features include the use of an off-the-shelf physics engine…

The fractality of human gait, namely, the long-range correlation that characterizes scale-free fluctuations of gait descriptors, such as the stride intervals during steady-state walking, depends on the well-tuned organization of the…

Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vertebrates and invertebrates, such organisms often use similar…

Exoskeletons modulate human movement across diverse applications, from performance augmentation to daily-life assistance. These systems often enforce specific kinematic patterns to mitigate injury risks and motivate users to keep moving…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…

The performance of tracking algorithms strongly depends on the chosen model assumptions regarding the target dynamics. If there is a strong mismatch between the chosen model and the true object motion, the track quality may be poor or the…

Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the…

Lattice Boltzmann models are briefly introduced together with references to methods used to predict their ability for simulations of systems described by partial differential equations that are first order in time and low order in space…

The difference between a model forecast and actual observations is called forecast bias. This bias is due to either incomplete model assumptions and/or poorly known parameter values and initial/boundary conditions. In this paper we discuss…