相关论文: Physics-Informed Neural Networks with Unscented Ka…
Dynamic operation of biological processes, such as anaerobic digestion (AD), requires reliable process monitoring to guarantee stable operating conditions at all times. Unscented Kalman filters (UKF) are an established tool for nonlinear…
This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degrees of freedom (6 DoF). The proposed QUPF-VIN technique is…
Exoskeletons and rehabilitation systems have the potential to improve human strength and recovery by using adaptive human-machine interfaces. Achieving precise and responsive control in these systems depends on accurately estimating joint…
Physics-informed neural networks have gained growing interest. Specifically, they are used to solve partial differential equations governing several physical phenomena. However, physics-informed neural network models suffer from several…
We present a novel numerical approach aiming at computing equilibria and dynamics structures of magnetized plasmas in coronal environments. A technique based on the use of neural networks that integrates the partial differential equations…
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…
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…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
We propose a physics-informed neural networks (PINNs) framework to solve the infinite-horizon optimal control problem of nonlinear systems. In particular, since PINNs are generally able to solve a class of partial differential equations…
Physics-informed neural networks (PINNs) commonly address ill-posed inverse problems by uncovering unknown physics. This study presents a novel unsupervised learning framework that identifies spatial subdomains with specific governing…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…
We present a physics-informed neural network (PINN) model to predict the hydrodynamic force and torque fluctuations in a random array of stationary bidisperse spheres. The PINN model is formulated based on two hypotheses: (i) pairwise…
In this paper, in order to enhance the numerical stability of the unscented Kalman filter (UKF) used for power system dynamic state estimation, a new UKF with guaranteed positive semidifinite estimation error covariance (UKF-GPS) is…
Physics-informed neural networks (PINNs) have great potential for flexibility and effectiveness in forward modeling and inversion of seismic waves. However, coordinate-based neural networks (NNs) commonly suffer from the "spectral bias"…
This work presents a novel target-free extrinsic calibration algorithm for a 3D Lidar and an IMU pair using an Extended Kalman Filter (EKF) which exploits the \textit{motion based calibration constraint} for state update. The steps include,…
This paper introduces a Transformer-Enhanced Physics-Informed Neural Network (TE-PINN) designed for accurate quaternion-based orientation estimation in high-dynamic environments, particularly within the field of robotics. By integrating…
Presently, there is a steady state approach in Computational fluid dynamics (CFD) to obtain a steady solution directly from the steady state governing equations. Whereas, for obtaining a time-periodic flow solution, the present unsteady…
Accurate modeling is crucial in many engineering and scientific applications, yet obtaining a reliable process model for complex systems is often challenging. To address this challenge, we propose a novel framework, reservoir computing with…
Neural networks have emerged as powerful tools for modeling complex physical systems, yet balancing high accuracy with computational efficiency remains a critical challenge in their convergence behavior. In this work, we propose the Hybrid…