Publications related to Hadamard's dynamical system

Dynamical system approach to navigation around obstacles

In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...

2024

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

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

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 ...

Sage Publications Ltd2024

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

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 ...

EPFL2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems

Colin Neil Jones, Roland Schwan, Melanie Nicole Zeilinger, Xuan Truong Nghiem

Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to ...

IEEE2023

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

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

Level statistics of the one-dimensional ionic Hubbard model

Andreas Martin Läuchli Herzig

In this paper we analyze the spectral level statistics of the one-dimensional ionic Hubbard model, the Hubbard model with an alternating on-site potential. In particular, we focus on the statistics of the gap ratios between consecutive energy levels. This ...

2022

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

Periodic orbits exhibit oblique stripe patterns in plane Couette flow

Tobias Schneider, Florian Reetz

Spatiotemporally chaotic dynamics of transitional plane Couette flow may give rise to regular turbulent-laminar stripe patterns with a large-scale pattern wavelength and an oblique orientation relative to the laminar flow direction. A recent dynamical syst ...

AMER PHYSICAL SOC2021

Structure-Preserving Reduced Basis Methods For Poisson Systems

Jan Sickmann Hesthaven, Cecilia Pagliantini

We develop structure-preserving reduced basis methods for a large class of nondissipative problems by resorting to their formulation as Hamiltonian dynamical systems. With this perspective, the phase space is naturally endowed with a Poisson manifold struc ...

AMER MATHEMATICAL SOC2021

Model order reduction based on functional rational approximants for parametric PDEs with meromorphic structure

Davide Pradovera

Many engineering fields rely on frequency-domain dynamical systems for the mathematical modeling of physical (electrical/mechanical/etc.) structures. With the growing need for more accurate and reliable results, the computational burden incurred by frequen ...

EPFL2021

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

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian, Aileen Charlotte Naef, Karl Gustav Henriks

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 ...

IEEE2020

OPF-based under frequency load shedding predicting the dynamic frequency trajectory

Mario Paolone, Asja Derviskadic, Guglielmo Frigo, Yihui Zuo, Quentin Walger

The paper describes a centralized Under Frequency Load Shedding (UFLS) method, where load shedding decisions are based on the solution of an optimization problem. The proposed approach anticipates the evolution of the grid frequency trajectory by means of ...

Elsevier2020

Coherent actions by homeomorphisms on the real line or an interval

Yash Lodha

We study actions of groups by orientation preserving homeomorphisms on R (or an interval) that are minimal, have solvable germs at +/-infinity and contain a pair of elements of a certain dynamical type. We call such actions coherent. We establish that such ...

HEBREW UNIV MAGNES PRESS2020

Stable Manifold for the Critical Non-Linear Wave Equation: A Fourier Theory Approach

Gérôme Graf

I will try to explain, without going into too much detail, how one can consider a non-linear wave equation as a dynamical system and what it brings to the study of its solutions. We begin by considering our model case, the non-linear Klein-Gordon equation ...

EPFL2019

From human-intention recognition to compliant control using dynamical systems in physical human-robot interaction

Mahdi Khoramshahi

Human ability to coordinate one's actions with other individuals to perform a task together is fascinating. For example, we coordinate our action with others when we carry a heavy object or when we construct a piece of furniture. Capabilities such as (1) f ...

EPFL2019

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

Aude Billard, Nadia Barbara Figueroa Fernandez, Seyed Sina Mirrazavi Salehian, Yonadav Goldwasser Shavit

In this paper, we propose an asymptotically stable joint-space dynamical system that captures desired behaviors in joint-space while stably converging towards a task-space attractor. To encode joint-space behaviors while meeting the stability criteria, the ...

2018

Modeling Compositions of Impedance-based Primitives via Dynamical Systems

Aude Billard, Nadia Barbara Figueroa Fernandez

In this work, we introduce a novel Dynamical System (DS)-based approach for modeling complex and compliant manipulation tasks, that are composed of a sequence of action phases with different compliance requirements; i.e. impedance primitives. We adopt a cl ...

2018

Structure-Preserving Reduced Basis Methods for Hamiltonian Systems with a State-dependent Poisson Structure

Jan Sickmann Hesthaven, Cecilia Pagliantini

We develop structure-preserving reduced basis methods for a large class of nondissipative problems by resorting to their formulation as Hamiltonian dynamical systems. With this perspective, the phase space is naturally endowed with a Poisson manifold struc ...

2018