相关论文: Estimation and Control of Motor Core Temperature w…
Constraining the frequency of energy deposition in magnetically-closed active region cores requires sophisticated hydrodynamic simulations of the coronal plasma and detailed forward modeling of the optically-thin line-of-sight integrated…
Thermal analysis provides deeper insights into electronic chips behavior under different temperature scenarios and enables faster design exploration. However, obtaining detailed and accurate thermal profile on chip is very time-consuming…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics are critical for the low-level control of joint torques. We…
A Boltzmann machine is a stochastic neural network that has been extensively used in the layers of deep architectures for modern machine learning applications. In this paper, we develop a Boltzmann machine that is capable of modelling…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
In this paper, we describe the algorithm to measure the stroke and the temperature of solenoid using PWM driving current at two points based on the electric characteristics of the solenoid with CNN, without mechanical attachments. We…
The complex structure of musculoskeletal humanoids makes it difficult to model them, and the inter-body interference and high internal muscle force are unavoidable. Although various safety mechanisms have been developed to solve this…
The operation of machine tools often demands a highly accurate knowledge of the tool center point's (TCP) position. The displacement of the TCP over time can be inferred from thermal models, which comprise a set of geometrically coupled…
We discuss a class of mechanical models of thermometers and their minimal requirements to determine the temperature for systems out of the common scope of thermometry. In particular we consider: 1) anharmonic chains with long time of…
This paper investigates a method to improve buildings' thermal predictive control performance via online identification and excitation (active learning process) that minimally disrupts normal operations. In previous studies we have…
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target…
One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situation. In this study, we describe an overall system of muscle…
Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, it makes…
Indoor thermal comfort in smart buildings has a significant impact on the health and performance of occupants. Consequently, machine learning (ML) is increasingly used to solve challenges related to indoor thermal comfort. Temporal…
Recently, machine learning has emerged as an alternative, powerful approach for predicting quantum-mechanical properties of molecules and solids. Here, using kernel ridge regression and atomic fingerprints representing local environments of…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…