相关论文: Physics-informed Machine Learning for Static Frict…

This study explores the application of Kolmogorov-Arnold Networks (KANs) in predicting nuclear binding energies, leveraging their ability to decompose complex multi-parameter systems into simpler univariate functions. By utilizing data from…

The goal of 3D human motion prediction is to forecast future 3D poses of the human body based on historical motion data. Existing methods often face limitations in achieving a balance between prediction accuracy and computational…

Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…

Kolmogorov-Arnold networks (KANs) have attracted attention recently as an alternative to multilayer perceptrons (MLPs) for scientific machine learning. However, KANs can be expensive to train, even for relatively small networks. Inspired by…

Manufacturability assessment is a critical step in bridging the persistent gap between design and production. While artificial intelligence (AI) has been widely applied to this task, most existing frameworks rely on geometry-driven methods…

Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…

In this work, we employ physics-informed neural operators to map pressure profiles from an input function space to the corresponding bubble radius responses. Our approach employs a two-step DeepONet architecture. To address the intrinsic…

Kolmogorov-Arnold Networks (KANs) shift neural computation from linear layers to learnable nonlinear edge functions, but implementing these nonlinearities efficiently in hardware remains an open challenge. Here we introduce a physical…

Kolmogorov-Arnold Networks (KANs) approximate multivariate functions using learnable univariate edge functions, typically parameterized by B-spline bases. Although effective, spline-based implementations can be computationally expensive. A…

The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite…

Although Kolmogorov-Arnold-based interpretable networks (KANs) possess strong theoretical expressiveness, they suffer from severe parameter explosion and limited ability to capture high-frequency features in high-dimensional tasks. To…

Implicit neural representations (INRs) use neural networks to provide continuous and resolution-independent representations of complex signals with a small number of parameters. However, existing INR models often fail to capture important…

This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known to have a highly…

Accurate dynamic models are crucial for many robotic applications. Traditional approaches to deriving these models are based on the application of Lagrangian or Newtonian mechanics. Although these methods provide a good insight into the…

The discovery of high-performance thermoelectric materials requires models that are both accurate and interpretable. Traditional machine learning approaches, while effective at property prediction, often act as black boxes and provide…

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)…

Algorithmic speedup of training common neural architectures is made difficult by the lack of structure guaranteed by the function compositions inherent to such networks. In contrast to multilayer perceptrons (MLPs), Kolmogorov-Arnold…

We develop a method for multifidelity Kolmogorov-Arnold networks (KANs), which use a low-fidelity model along with a small amount of high-fidelity data to train a model for the high-fidelity data accurately. Multifidelity KANs (MFKANs)…

Graph convolutional network (GCN)-based methods have shown strong performance in 3D human pose estimation by leveraging the natural graph structure of the human skeleton. However, their local receptive field limits their ability to capture…

Koopman operator has been recognized as an ongoing data-driven modeling method for vehicle dynamics which lifts the original state space into a high-dimensional linear state space. The deep neural networks (DNNs) are verified to be useful…