相关论文: Physics-informed Machine Learning for Static Frict…
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 the friction torque in robotic joints has long been challenging due to the request for a robust mathematical description. Traditional model-based approaches are often labor-intensive, requiring extensive experiments and…
This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks (PINN). This approach eliminates the need for dedicated…
Kolmogorov-Arnold Neural Networks (KANs) have gained significant attention in the machine learning community. However, their implementation often suffers from poor training stability and heavy trainable parameter. Furthermore, there is…
With increasing penetration of distributed energy resources installed behind the meter, there is a growing need for adequate modelling of composite loads to enable accurate power system simulation analysis. Existing measurement based load…
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…
Kolmogorov-Arnold Networks (KANs) relocate learnable nonlinearities from nodes to edges, demonstrating remarkable capabilities in scientific machine learning and interpretable modeling. However, current KAN implementations suffer from…
Kolmogorov-Arnold Networks (KANs) offer a promising framework for approximating complex nonlinear functions, yet the original B-spline formulation suffers from significant computational overhead due to De Boor algorithm. While recent…
This systematic review explores the theoretical foundations, evolution, applications, and future potential of Kolmogorov-Arnold Networks (KAN), a neural network model inspired by the Kolmogorov-Arnold representation theorem. KANs…
In this paper, we present Convolutional Kolmogorov-Arnold Networks, a novel architecture that integrates the learnable spline-based activation functions of Kolmogorov-Arnold Networks (KANs) into convolutional layers. By replacing…
Symbolic neural networks, such as Kolmogorov-Arnold Networks (KAN), offer a promising approach for integrating prior knowledge with data-driven methods, making them valuable for addressing inverse problems in scientific and engineering…
Machine learning for scientific discovery is increasingly becoming popular because of its ability to extract and recognize the nonlinear characteristics from the data. The black-box nature of deep learning methods poses difficulties in…
The Method of Moments (MoM) is constrained by the usage of static, geometry-defined basis functions, such as the Rao-Wilton-Glisson (RWG) basis. This letter reframes electromagnetic modeling around a learnable basis representation rather…
In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in…
Accurate prediction of shaft rotational speed, shaft power, and fuel consumption is crucial for enhancing operational efficiency and sustainability in maritime transportation. Conventional physics-based models provide interpretability but…
Symbolic discovery of governing equations is a long-standing goal in scientific machine learning, yet a fundamental trade-off persists between interpretability and scalable learning. Classical symbolic regression methods yield explicit…
Recent advancements in neural network design have given rise to the development of Kolmogorov-Arnold Networks (KANs), which enhance speed, interpretability, and precision. This paper presents the Fractional Kolmogorov-Arnold Network (fKAN),…
Musculoskeletal models have been widely used for detailed biomechanical analysis to characterise various functional impairments given their ability to estimate movement variables (i.e., muscle forces and joint moment) which cannot be…
Physics-informed neural networks have proven to be a powerful tool for solving differential equations, leveraging the principles of physics to inform the learning process. However, traditional deep neural networks often face challenges in…
This paper presents, for the first time, a framework for Kolmogorov-Arnold Networks (KANs) in power system applications. Inspired by the recently proposed KAN architecture, this paper proposes physics-informed Kolmogorov-Arnold Networks…