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Bouncing between model and data: stability, passivity, and optimality in hybrid dynamics

Publications associées (24)

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Dynamic Modeling of an Origami Prismatic Joint

Jamie Paik, Mustafa Mete, Jian-Lin Huang

Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

IEEE2023

Corona discharge actuator as an active sound absorber under normal and oblique incidence

Hervé Lissek, Stanislav Sergeev, Thomas Humbert

In the majority of active sound absorbing systems, a conventional electrodynamic loudspeaker is used as a controlled source. However, particular situations may require an actuator that is more resistant to harsh environments, adjustable in shape, and light ...

2022

Microscopic field theory for structure formation in systems of self-propelled particles with generic torques

Ignacio Pagonabarraga Mora, Elena Sesé Sansa

We derive a dynamical field theory for self-propelled particles subjected to generic torques and forces by explicitly coarse-graining their microscopic dynamics, described by a many-body Fokker-Planck equation. The model includes both intrinsic torques ind ...

AIP Publishing2022

Second-order adjoint-based sensitivity for hydrodynamic stability and control

Edouard Boujo

Adjoint-based sensitivity analysis is routinely used today to assess efficiently the effect of open-loop control on the linear stability properties of unstable flows. Sensitivity maps identify regions where small-amplitude control is the most effective, i. ...

Cambridge University Press2021

Stabilization of the linearized water tank system

Shengquan Xiang

In this article we study the so-called water tank system. In this system, the behavior of water contained in a 1-D tank is modelled by Saint-Venant equations, with a scalar distributed control. It is well-known that the linearized systems around uniform st ...

2022

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

Invariant states in inclined layer convection. Part 1. Temporal transitions along dynamical connections between invariant states

Tobias Schneider, Florian Reetz

Thermal convection in an inclined layer between two parallel walls kept at different fixed temperatures is studied for fixed Prandtl number . Depending on the angle of inclination and the imposed temperature difference, the flow exhibits a large variety of ...

Cambridge University Press2020

Analysis of Spiral-Grooved Gas Journal Bearings by the Narrow-Groove Theory and the Finite Element Method At Large Eccentricities

Jürg Alexander Schiffmann, Eliott Philippe Guenat, Elia Iseli

A finite groove approach (FGA), based on the finite element method (FEM), is used for analyzing the static and dynamic behavior of spiral-grooved aerodynamic journal bearings at different eccentricities, number of grooves, and compressibility numbers. The ...

2020

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

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

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Invariant states in inclined layer convection. Part 1. Temporal transitions along dynamical connections between invariant states

Tobias Schneider, Florian Reetz

Cambridge University Press2020

Analysis of Spiral-Grooved Gas Journal Bearings by the Narrow-Groove Theory and the Finite Element Method At Large Eccentricities

Jürg Alexander Schiffmann, Eliott Philippe Guenat, Elia Iseli

2020

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

2018

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

Melvyn Sandy Tyloo

EPFL2020