Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the devel...
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional dynamics. However, there is no quantitative way to measure if the ROM of a soft robot has succeeded in this task. In other fields, like structural dynamics or flexible link robotics, linear normal modes are routinely used to this end. Yet, this theory is not applicable to soft robots due to their nonlinearities. In this work, we propose to use the recent nonlinear extension in modal theory -called eigenmanifolds- as a means to evaluate control-oriented models for soft robots and compare them. To achieve this, we propose three similarity metrics relying on the projection of the nonlinear modes of the system into a task space of interest. We use this approach to compare quantitatively, for the first time, ROMs of increasing order generated under the piecewise constant curvature (PCC) hypothesis with a high-dimensional finite element (FE)-like model of a soft arm. Results show that by increasing the order of the discretization, the eigenmanifolds of the PCC model converge to those of the FE model.
Lyapunov optimization theory has recently emerged as a powerful mathematical framework for solving complex stochastic optimization problems by transforming long-term objectives into a sequence of real-time short-term ...
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Financial technology" or "FinTech" refers to use of information technologies to derive financial solutions. FinTech is now widely regarded as a hotly debated blend of financial services and information ...
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Authentication is the process of verifying the claimed identity of the user. Recently, traditional authentication methods such as passwords, tokens, and so on are no longer used for authentication as they are more pro...
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Feature extraction is an initial and essential part for the development of accurate predictive machine learning classifiers. In the research field of drug discovery and development, the usage of molecular descriptors,...
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ISBN:
(纸本)9781450397407
Feature extraction is an initial and essential part for the development of accurate predictive machine learning classifiers. In the research field of drug discovery and development, the usage of molecular descriptors, which can be defined as mathematical representations of molecules’ chemical properties, is a challenging task not only for machine learning studies but even for "classical wet lab" approaches. However, a high diversity of these descriptors is required in order to exploit all the available knowledge and, consequently, to maximize the potentially predictive power of approaches that could be applied for the discovery of new bioactive compounds against one or more molecular targets. Furthermore, the representation and normalization of these information is considered a rather time-consuming process. Herein, we present an approach that employs the power of cloud and distributing computing for the extraction, processing and representation of big datasets, leading to the generation of molecular descriptors in a reasonable time frame.
In this paper, we devote to aggregating longitudinal and multi-modal information from heterogeneous neighbors to obtain an accurate node embedding on the dynamic heterogeneous graph. Recently, Heterogeneous Graph Neur...
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This work focuses on plant leaf disease classification and explores three crucial aspects: adversarial training, model explainability, and model compression. The models’ robustness against adversarial attacks is enha...
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The technology of Reconfigurable Intelligent Surfaces (RISs) is lately being considered as a boosting component for various indoor wireless applications, enabling wave propagation control and coverage extension. Howev...
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Knowledge resource and information system/technology (IS/IT) capability have been considered to improve firm performance, however there is still a gap regarding the sustainability of supply chain to face and recover f...
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Numerical simulation of the response of healthy and pathological arteries to cardiovascular agents can provide valuable information to the physician in the treatment of diseases such as hypertension, atherosclerosis, ...
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