Learning Externally Modulated Dynamical Systems

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Neural Networks (NNs), renowned for their universal approximation capabilities, have proven well-suited for parametrizing nonlinear control policies and modeling complex processes from available data. However, several NN architectures are physics-agnostic, ...

The simulation of many-body open quantum systems is key to solving numerous outstanding problems in physics, chemistry, material science, and in the development of quantum technologies. Near-term quantum computers may bring considerable advantage for the e ...

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

Does gravity affect decision-making? This question comes into sharp focus as plans for interplanetary human space missions solidify. In the framework of Bayesian brain theories, gravity encapsulates a strong prior, anchoring agents to a reference frame via ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

Machine learning is often cited as a new paradigm in control theory, but is also often viewed as empirical and less intuitive for students than classical model-based methods. This is particularly the case for reinforcement learning, an approach that does n ...

The dynamical properties of water molecules confinedin the unidirectionalhydrophilic nanopores of AlPO4-54 are investigated withquasi-elastic neutron scattering as a function of temperature downto 118 K. AlPO4-54 has among the largest pores known foralumin ...

IntroductionOne-third of mothers rate their childbirth as traumatic. The prevalence of childbirth-related post-traumatic stress disorder (CB-PTSD) is 4.7%. Skin-to-skin contact is a protective factor against CB-PTSD. However, during a caesarean section (CS ...

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

This paper deals with the control-oriented modeling of a multilayered dielectric elastomer actuator based tube. The actuator is clamped at both sides and performs a radial displacement. The hyperelastic deformation and the viscoelastic performance, togethe ...

We introduce the task of action-driven stochastic human motion prediction, which aims to predict multiple plausible future motions given a sequence of action labels and a short motion history. This differs from existing works, which predict motions that ei ...

Collective Remote Attestation (CRA) is a well-established approach where a single Verifier attests the integrity of multiple devices in a single execution of the challenge-response protocol. Current CRA solutions are well-suited for Internet of Things (IoT ...

The current approach to train Cardiopulmonary Resuscitation (CPR) is to employ a mannequin device replicating the physical properties of a real human head and torso. This aims to ensure a correct transfer of the cardiac massage location, amplitude and freq ...

Modern information technologies and human-centric communication systems employ advanced content representations for richer portrayals of the real world. The newly adopted imaging modalities offer additional information cues and permit the depiction of real ...

Virtual reality (VR) is immersive not only because of visual integration, but because we can act and perform in a virtual environment (VE). Beyond the mere fact that a VR system provides images computed directly from the users' viewpoint in stereoscopy, it ...

Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...

Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. Al ...

Learning Externally Modulated Dynamical Systems

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Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

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Microgravity induces overconfidence in perceptual decision-making

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes

Low-Temperature Dynamics of Water Confined in Unidirectional Hydrophilic Zeolite Nanopores

'connEcted caesarean section': creating a virtual link between MOthers and their infanTs to ImprOve maternal childbirth experieNce - study protocol for a PILOT trial (e-motion-pilot)

Neuromechanical Simulations of Animats with Decentralised Control

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Control-oriented modeling and analysis of tubular dielectric elastomer actuators dedicated to cardiac assist devices

Weakly-supervised Action Transition Learning for Stochastic Human Motion Prediction

HolA: Holistic and Autonomous Attestation for IoT Networks

On the Importance of Providing a Tangible Haptic Response for Training Cardiopulmonary Resuscitation in Virtual Reality

Perceptual Quality of Point Clouds with application to Compression

Preventing Breaks in Embodiment in Immersive Virtual Reality

Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage