Publications associées à Système dynamique mesuré

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 ...

2020

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 ...

2020

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 ...

2020

Uniform distribution in nilmanifolds along functions from a Hardy field

Florian Karl Richter

We study equidistribution properties of translations on nilmanifolds along functions of polynomial growth from a Hardy field. More precisely, if

X=G/\Gamma

is a nilmanifold,

a_1,\ldots,a_k\in G

are commuting nilrotations, and

f_1,\ldots,f_k

are funct ...

2020

Load-induced dynamical transitions at graphene interfaces

Gabriel Aeppli, Ming Ma

The structural superlubricity (SSL), a state of near-zero friction between two contacted solid surfaces, has been attracting rapidly increasing research interest since itwas realized in microscale graphite in 2012. An obvious question concerns the implicat ...

2020

Speed-dispersion-induced alignment: A one-dimensional model inspired by swimming droplets experiments

Yang Liu

We investigate the collective dynamics of self-propelled droplets, confined in a one-dimensional microfluidic channel. On the one hand, neighboring droplets align and form large trains of droplets moving in the same direction. On the other hand, the drople ...

2020

Rationally almost periodic sequences, polynomial multiple recurrence and symbolic dynamics

Florian Karl Richter

A set

R\subset \mathbb{N}

is called rational if it is well approximable by finite unions of arithmetic progressions, meaning that for every

\unicode[STIX]{x1D716}>0

there exists a set

B=\bigcup _{i=1}^{r}a_{i}\mathbb{N}+b_{i}

, where $a_{1},\ldots ,a_ ...

2019

A spectral refinement of the Bergelson–Host–Kra decomposition and new multiple ergodic theorems

Florian Karl Richter

We investigate how spectral properties of a measure-preserving system (X, B, mu, T) are reflected in the multiple ergodic averages arising from that system. For certain sequences a :N -> N, we provide natural conditions on the spectrum sigma (T) such that, ...

2019

The static and dynamic structural heterogeneities of B-DNA: extending Calladine-Dickerson rules

John Maddocks, Daiva Petkeviciute, Marco Pasi

We present a multi-laboratory effort to describe the structural and dynamical properties of duplex B-DNA under physiological conditions. By processing a large amount of atomistic molecular dynamics simulations, we determine the sequence-dependent structura ...

Oxford University Press (OUP)2019

Multiplicative combinatorial properties of return time sets in minimal dynamical systems

Florian Karl Richter

We investigate the relationship between the dynamical properties of minimal topological dynamical systems and the multiplicative combinatorial properties of return time sets arising from those systems. In particular, we prove t ...

2019

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Force Adaptation in Contact Tasks with Dynamical Systems

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

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

Uniform distribution in nilmanifolds along functions from a Hardy field

Load-induced dynamical transitions at graphene interfaces

Speed-dispersion-induced alignment: A one-dimensional model inspired by swimming droplets experiments

Rationally almost periodic sequences, polynomial multiple recurrence and symbolic dynamics

A spectral refinement of the Bergelson–Host–Kra decomposition and new multiple ergodic theorems

The static and dynamic structural heterogeneities of B-DNA: extending Calladine-Dickerson rules

Multiplicative combinatorial properties of return time sets in minimal dynamical systems

Force Adaptation in Contact Tasks with Dynamical Systems

Load-induced dynamical transitions at graphene interfaces

Speed-dispersion-induced alignment: A one-dimensional model inspired by swimming droplets experiments

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

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

Uniform distribution in nilmanifolds along functions from a Hardy field

Multiplicative combinatorial properties of return time sets in minimal dynamical systems

Rationally almost periodic sequences, polynomial multiple recurrence and symbolic dynamics

A spectral refinement of the Bergelson–Host–Kra decomposition and new multiple ergodic theorems

The static and dynamic structural heterogeneities of B-DNA: extending Calladine-Dickerson rules