相关论文: Flatness-based motion planning for a non-uniform m…
This paper presents a mechanically bistable mechanism of the compressed pre-curved beam. A governing equation is proposed which can be used to predict and explain the bistability of the compressed pre-curved beam. FE simulations and…
This paper provides a method for the simultaneous topology optimization of parts and their corresponding joint locations in an assembly. Therein, the joint locations are not discrete and predefined, but continuously movable. The underlying…
We consider the control problem where, given an orthonormal tangent frame in the hyperbolic plane or three dimensional hyperbolic space, one is allowed to transport the frame a fixed distance $r > 0$ along the geodesic in direction of the…
This paper addresses the analysis of a boundary feedback system involving a non-homogeneous Euler-Bernoulli beam governed by the equation $m(x)u_{tt}+\mu(x)u_{t}$$+\left(r(x)u_{xx}\right)_{xx}=0$, subject to the initial $u(x,0)=u_0(x)$,…
This paper develops a control and estimation design for the one-phase Stefan problem. The Stefan problem represents a liquid-solid phase transition as time evolution of a temperature profile in a liquid-solid material and its moving…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
The main objective of this study is to propose a methodology to build a parametric linear model of Flexible Multibody Systems for control design. This approach uses a combined Finite Element - State Space Approach based on component modes…
This paper presents an alternative way to the dynamic modeling of a rotational inverted pendulum using the classic mechanics known as Euler-Lagrange allows to find motion equations that describe our model. It also has a design of the basic…
Safe and efficient motion planning is of fundamental importance for autonomous vehicles. This paper investigates motion planning based on nonlinear model predictive control (NMPC) over a neural network vehicle model. We aim to overcome the…
We study parameterisation-independent closed planar curve matching as a Bayesian inverse problem. The motion of the curve is modelled via a curve on the diffeomorphism group acting on the ambient space, leading to a large deformation…
Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer…
Laser-controlled entanglement between atomic qubits (`spins') and collective motion in trapped ion Coulomb crystals requires conditional momentum transfer from the laser. Since the spin-dependent force is derived from a spatial gradient in…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
Quantum transport in a one-dimensional (1D) quasiperiodic lattice with mobility edges is explored. We first investigate the adiabatic pumping between left and right edge modes by resorting to two edge-bulk-edge channels and demonstrate that…
It is shown that the kinematic system describing planar non-steady motions of ideal fibre-reinforced fluids may be reduced to a single two-dimensional third-order partial differential equation in which time enters parametrically. A…
We consider a rigid body freely moving in a compressible inviscid fluid within a bounded domain $\Omega\subset\mathbb{R}^3$. The fluid is thereby governed by the non necessarily isentropic compressible Euler equations, while the rigid body…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
In this paper we consider a linear system modeling the vibrations of two nonhomogeneous Euler-Bernoulli beams connected by a point mass. This system is generated by the following equations\bea…