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The gearbox is a critical component of electromechanical systems. The occurrence of multiple faults can significantly impact system accuracy and service life. The vibration signal of the gearbox is an effective indicator of its operational…

Resolvers, like all electromagnetic devices, are constantly under investigation, both operationally and structurally. In this regard, proposing a modeling methodology that can save significant time without compromising accuracy is a big…

Foundation models in digital pathology use massive datasets to learn useful compact feature representations of complex histology images. However, there is limited transparency into what drives the correlation between dataset size and…

Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose significant challenges for…

This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…

Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…

This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…

Crowd movement simulation is crucial for pedestrian safety management and facility design. Data-driven models offer the potential to improve realism and predictive accuracy, but most are developed for a single scenario, limiting their…

Hard spheres are arguably one of the most fundamental model systems in soft matter physics, and hence a common topic of simulation studies. Event-driven simulation methods provide an efficient method for studying the phase behavior and…

Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…

In this article, we present a new model for a synchronous generator based on phasor measurement units (PMUs) data. The proposed sub-transient model allows to estimate the dynamic state variables as well as to calibrate model parameters. The…

Dynamic benchmarks interweave model fitting and data collection in an attempt to mitigate the limitations of static benchmarks. In contrast to an extensive theoretical and empirical study of the static setting, the dynamic counterpart lags…

Numerical stability is of great significance for discrete-time dynamic vehicle model. Among the unstable factors, low-speed singularity stands out as one of the most challenging issues, which arises from that the denominator of tire side…

Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

We introduce the Cross Human Motion Diffusion Model (CrossDiff), a novel approach for generating high-quality human motion based on textual descriptions. Our method integrates 3D and 2D information using a shared transformer network within…

We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…

This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler's classical mechanics and Lagrange formalism, which allows find the equations of motion that…

Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…