Publication

Learning Augmented Joint-Space Task-Oriented Dynamical Systems:A Linear Parameter Varying and Synergetic Control Approach

Publications associées (31)

Adaptive Symplectic Model Order Reduction Of Parametric Particle-Based Vlasov-Poisson Equation

Cecilia Pagliantini, Jan Sickmann Hesthaven, Nicolò Ripamonti

. High-resolution simulations of particle-based kinetic plasma models typically require a high number of particles and thus often become computationally intractable. This is exacerbated in multi-query simulations, where the problem depends on a set of para ...

AMER MATHEMATICAL SOC2023

Neuromechanical Simulations of Animats with Decentralised Control

Jonathan Patrick Arreguit O'Neill

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 ...

EPFL2023

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Andrea Di Russo

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

EPFL2023

A Comparison of Residual-based Methods on Fault Detection

Olga Fink, Gaëtan Michel Frusque

An important initial step in fault detection for complex industrial systems is gaining an understanding of their health condition. Subsequently, continuous monitoring of this health condition becomes crucial to observe its evolution, track changes over tim ...

PHM Society2023

From thin plates to Ahmed bodies: linear and weakly nonlinear stability of rectangular prisms

Edouard Boujo, Giuseppe Antonio Zampogna

We study the stability of laminar wakes past three-dimensional rectangular prisms. The width-to-height ratio is set to W/H = 1.2, while the length-to-height ratio 1/6 < L/H < 3 covers a wide range of geometries from thin plates to elongated Ahmed bodies. F ...

Cambridge University Press2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

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 ...

2023

Linearization and Identification of Multiple-Attractor Dynamical Systems through Laplacian Eigenmaps

Aude Billard, Bernardo Fichera

Dynamical Systems (DS) are fundamental to the modeling and understanding time evolving phenomena, and have application in physics, biology and control. As determining an analytical description of the dynamics is often difficult, data-driven approaches are ...

Microtome Publishing2022

Non-destructive Prediction of the Buckling Load of Cylindrical Shells

Emilio José Lozano Vazquez

The current research focuses on the prediction of the maximum axial compression load a cylindrical shell is able to bear. This maximum axial compression load is the value at which a cylindrical shell loses stability and abruptly buckles. After the buckling ...

EPFL2022

Invariant tori in dissipative hyperchaos

Tobias Schneider, Jeremy Peter Parker

One approach to understand the chaotic dynamics of nonlinear dissipative systems is the study of non-chaotic yet dynamically unstable invariant solutions embedded in the system's chaotic attractor. The significance of zero-dimensional unstable fixed points ...

American Institute of Physics2022

Frequency-domain data-driven position-dependent controller synthesis for Cartesian Robots

Alireza Karimi, Philippe Louis Schuchert

Cartesian robots have position-dependent dynamics that should be accounted for in high performance applications. Traditional methods design Linear Time Invariant (LTI) controllers which are robustly stable with respect to position variations, but require a ...

2023

Asymptotic Errors for Teacher-Student Convex Generalized Linear Models (Or: How to Prove Kabashima’s Replica Formula)

Florent Gérard Krzakala, Alia Abbara

There has been a recent surge of interest in the study of asymptotic reconstruction performance in various cases of generalized linear estimation problems in the teacher-student setting, especially for the case of i.i.d standard normal matrices. Here, we g ...

2022