相关论文: Physics-Informed Learning for the Friction Modelin…

This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmonic drives. The approach integrates Physics-Informed Neural…

In this work, we present the physics-informed neural network (PINN) model applied particularly to dynamic problems in solid mechanics. We focus on forward and inverse problems. Particularly, we show how a PINN model can be used efficiently…

Differential equations are indispensable to engineering and hence to innovation. In recent years, physics-informed neural networks (PINN) have emerged as a novel method for solving differential equations. PINN method has the advantage of…

Friction-induced vibration (FIV) is very common in engineering areas. Analysing the dynamic behaviour of systems containing a multiple-contact point frictional interface is an important topic. However, accurately simulating…

For Prognostics and Health Management (PHM) of Lithium-ion (Li-ion) batteries, many models have been established to characterize their degradation process. The existing empirical or physical models can reveal important information regarding…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

Physics-Informed Neural Network (PINN) is a novel multi-task learning framework useful for solving physical problems modeled using differential equations (DEs) by integrating the knowledge of physics and known constraints into the…

We present a Physics-Informed Neural Network (PINN) to simulate the thermochemical evolution of a composite material on a tool undergoing cure in an autoclave. In particular, we solve the governing coupled system of differential equations…

This dissertation investigates physics-informed neural networks (PINNs) as candidate models for encoding governing equations, and assesses their performance on experimental data from two different systems. The first system is a simple…

We apply Physics-Informed Neural Networks (PINNs) for solving identification problems of nonhomogeneous materials. We focus on the problem with a background in elasticity imaging, where one seeks to identify the nonhomogeneous mechanical…

Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control require fast and accurate models. However, prediction with first-principles (FP)…

Friction modeling plays a crucial role in achieving high-precision motion control in robotic operating systems. Traditional static friction models (such as the Stribeck model) are widely used due to their simple forms; however, they…

We present the application of a class of deep learning, known as Physics Informed Neural Networks (PINN), to learning and discovery in solid mechanics. We explain how to incorporate the momentum balance and constitutive relations into PINN,…

Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…

Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…

Physics-Informed Neural Networks (PINNs) have emerged as a powerful tool for solving differential equations and modeling physical systems by embedding physical laws into the learning process. However, rigorously quantifying how well a PINN…

This work presents a physics-informed neural network (PINN) based framework to model the strain-rate and temperature dependence of the deformation fields in elastic-viscoplastic solids. To avoid unbalanced back-propagated gradients during…

Accurate prediction of vehicle collision dynamics is crucial for advanced safety systems and post-impact control applications, yet existing methods face inherent trade-offs among computational efficiency, prediction accuracy, and data…

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…

Physics-Informed Neural Networks (PINN) are a machine learning tool that can be used to solve direct and inverse problems related to models described by Partial Differential Equations. This paper proposes an adaptive inverse PINN applied to…