Contribution to the ergodic theory of piecewise monotone continuous maps

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Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

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

Local Vulnerabilities and Global Robustness of Coupled Dynamical Systems on Complex Networks

Melvyn Sandy Tyloo

Coupled dynamical systems are omnipresent in everyday life. In general, interactions between individual elements composing the system are captured by complex networks. The latter greatly impact the way coupled systems are functioning and evolving in time. ...

EPFL2020

On the relaxed maximum-likelihood blind MIMO channel estimation for orthogonal space-time block codes

Kamran Kalbasi

This paper concerns the maximum-likelihood channel estimation for MIMO systems with orthogonal space-time block codes when the finite alphabet constraint of the signal constellation is relaxed. We study the channel coefficients estimation subspace generate ...

ELSEVIER2020

Unraveling reaction-diffusion-like dynamics in urban congestion propagation: Insights from a large-scale road network

Nikolaos Geroliminis, Leonardo Bellocchi

We study the dynamical process of congestion formation for large-scale urban networks by exploring a unique dataset of taxi movements in a megacity. We develop a dynamic model based on a reaction and a diffusion term that properly reproduces the cascade ph ...

Nature Research2020

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

Atomistic modeling of the solid-liquid interface of metals and alloys

Edoardo Baldi

Solidification is a phase transformation of utmost importance in material science, for it largely controls materials' microstructure on which a wide range of mechanical properties depends. Almost every human artifact undergoes a transformation that leads t ...

EPFL2020

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

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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

IEEE2020