Publications related to Conservative system

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

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 ...

2022

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

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

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

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

IEEE2020

Macroscopic polarization in the nominally ergodic relaxor state of lead magnesium niobate

Dragan Damjanovic, Lukas Riemer, Yang Li, Kanghyun Chu, Brahim Dkhil

Macroscopic polarity and its dynamic response to external electric fields and temperature in the nominally ergodic relaxor phase of pristine lead magnesium niobate crystals and ceramics, Pb(Mg1/3Nb2/3)O3 (PMN), were investigated. Dynamic pyroelectric measu ...

AIP American Institute of Physics2020

Rapid, Robust, and Relevant (R3) Reactivity Test for Supplementary Cementitious Materials

Karen Scrivener, Ruben Anton Snellings, François Henri Avet, Xuerun Li

Although supplementary cementitious materials (SCMs) are now commonly accepted and widely used, consensus has not been reached for methods to test their chemical reactivity. A multitude of test methods exist but often fall short on one or more of the key f ...

AMER CONCRETE INST2019

Dynamical Behavior and Stability Analysis of Hydromechanical Gates

Paolo Perona, Fabian Alexander Bernhard

This study revisits the stability of hydromechanical gates for upstream water surface regulation, also known as AMIL gates. AMIL gates are used in irrigation canals, where they are often installed in series. From the regulation perspective, instabilities a ...

American Society of Civil Engineers2017

Reaching and grasping kitchenware objects

Aude Billard, Ashwini Shukla, José Santos-Victor, Alexandre Bernardino

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector o ...

2012

Networks of Self-Adaptive Dynamical Systems

Max-Olivier Hongler, Julio Rodriguez

We discuss the adaptive behaviour of a collection of heterogeneous dynamical systems interacting via a weighted network. At each vertex, the network is endowed with a dynamical system with individual (initially different) control parameters governing the l ...

Oxford University Press2012

Scala to the Power of Z3: Integrating SMT and Programming

Viktor Kuncak, Philippe Paul Henri Suter

We describe a system that integrates the SMT solver Z3 with the Scala programming language. The system supports the use of the SMT solver for checking satisfiability, unsatisfiability, as well as solution enumeration. The embedding of formula trees into Sc ...

Springer-Verlag Berlin2011

Networks of mixed canonical-dissipative systems and dynamic hebbian learning

Max-Olivier Hongler, Julio Rodriguez

We study the dynamics of a network consisting of N diffusively coupled, stable- limit-cycle oscillators on which individual frequencies are parametrized by

w_k, k = 1, . . . ,N

. We introduce a learning rule which influences the wk by driving the system t ...

2009

Networks of Mixed Canonic-Dissipative Systems and Dynamic Hebbian Learning

Max-Olivier Hongler, Julio Rodriguez

We consider a collection {O_k}_{k=1}^N of interacting parametric mixed canonical-dissipative systems, (MCD). Each individual Ok, exhibits, in absence of interaction, a limit cycle L_k on which the orbit circulation is parameterized by w_k(t). The underlyin ...

Shaker Verlag2008