相关论文: A novel hybrid and publicly available model for sp…
Intelligent fault diagnosis has become an indispensable technique for ensuring machinery reliability. However, existing methods suffer significant performance decline in real-world scenarios where models are tested under unseen working…
The concept of the Digital Twin, which in the context of this paper is the virtual representation of a production system or its components, can be used as a "digital playground" to master the increasing complexity of these assets. One of…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous transitions. For example, a robot leg is able to exert very…
Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…
This paper presents a proof-of-concept digital twin framework for simulation-driven diabetes modeling using benchmark clinical data, synthetic temporal augmentation, and illustrative continuous glucose monitoring (CGM) analysis. Unlike…
A new numerical method is presented to efficiently simulate the inelastic hard sphere (IHS) model for granular media, when fluid and frozen regions coexist in the presence of gravity. The IHS model is extended by allowing particles to…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
Physics-based and data-driven models for remaining useful lifetime (RUL) prediction typically suffer from two major challenges that limit their applicability to complex real-world domains: (1) incompleteness of physics-based models and (2)…
This paper develops a hybrid system modeling framework for inverters that switch between grid-following and grid-forming control schemes. In particular, such inverters are modeled as hybrid automata with guard conditions on voltage and…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
Digital twin technology has a huge potential for widespread applications in different industrial sectors such as infrastructure, aerospace, and automotive. However, practical adoptions of this technology have been slower, mainly due to a…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
In this paper artificial neural networks and support vector machines are used to reduce the amount of vibration data that is required to estimate the Time Domain Average of a gear vibration signal. Two models for estimating the time domain…
Automatic sensor-based detection of motor failures such as bearing faults is crucial for predictive maintenance in various industries. Numerous methodologies have been developed over the years to detect bearing faults. Despite the…
The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…
The literature is rich with studies, analyses, and examples on parameter estimation for describing the evolution of chaotic dynamical systems based on measurements, even when only partial information is available through observations.…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…