相关论文: Uncertainty-Aware Digital Twins: Robust Model Pred…

Digital twins enable real-time simulation and prediction in engineering systems. This paper presents a novel framework for predictive digital twins of a headlamp heatsink, integrating physics-based reduced-order models (ROMs) from…

We present differentiable predictive control (DPC) as a deep learning-based alternative to the explicit model predictive control (MPC) for unknown nonlinear systems. In the DPC framework, a neural state-space model is learned from…

Digital twins are becoming powerful tools in industrial applications, offering virtual representations of cyber-physical systems. However, verification of these models remains a significant challenge due to the potentially large datasets…

In response to the urgent need to establish AI/ML-integrated Digital Twin (DT) technology within next-generation nuclear systems, advancements in modeling methods and simulation codes are necessary. The increased complexity of models…

Uncertainty quantification (UQ) is the process of systematically determining and characterizing the degree of confidence in computational model predictions. In the context of systems biology, especially with dynamic models, UQ is crucial…

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 the process industry, long-term and efficient optimization of production lines requires real-time monitoring and analysis of operational states to fine-tune production line parameters. However, complexity in operational logic and…

Model Predictive Controllers (MPC) are widely used for controlling cyber-physical systems. It is an iterative process of optimizing the prediction of the future states of a robot over a fixed time horizon. MPCs are effective in practice,…

Model predictive control (MPC) achieves stability and constraint satisfaction for general nonlinear systems, but requires computationally expensive online optimization. This paper studies approximations of such MPC controllers via neural…

Industrial manipulators are normally operated in cluttered environments, making safe motion planning important. Furthermore, the presence of model-uncertainties make safe motion planning more difficult. Therefore, in practice the speed is…

Digital Twins (DTs) are virtual representations of physical systems synchronized in real time through Internet of Things (IoT) sensors and computational models. In industrial applications, DTs enable predictive maintenance, fault diagnosis,…

Digital twins (DTs) are increasingly utilized to monitor, manage, and optimize complex systems across various domains, including civil engineering. A core requirement for an effective DT is to act as a fast, accurate, and maintainable…

Deploying deep learning models in safety-critical applications remains a very challenging task, mandating the provision of assurances for the dependable operation of these models. Uncertainty quantification (UQ) methods estimate the model's…

Digital twins (DTs) have emerged as a promising enabler for representing the real-time states of physical worlds and realizing self-sustaining systems. In practice, DTs of physical devices, such as mobile users (MUs), are commonly deployed…

Control of nonlinear distributed parameter systems (DPS) under uncertainty is a meaningful task for many industrial processes. However, both intrinsic uncertainty and high dimensionality of DPS require intensive computations, while…

The increasing focus on long-term time series prediction across various fields has been significantly strengthened by advancements in quantum computation. In this paper, we introduce a data-driven method designed for time series prediction…

Deep Model Predictive Control (Deep MPC) is an evolving field that integrates model predictive control and deep learning. This manuscript is focused on a particular approach, which employs deep neural network in the loop with MPC. This…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

This work investigates the use of digital twins for dynamical system modeling and control, integrating physics-based, data-driven, and hybrid approaches with both traditional and AI-driven controllers. Using a miniature greenhouse as a test…

Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…