Model and Control of R-Soft Inverted Pendulum

Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the accomplishment of classic robotic tasks, such as pick and place. In this work, we propose the R-Soft Inverted Pendulum, a Soft Inverted Pendulum (SIP) actuated only by a revolute joint at the base...

Modeling Pedestrian Tactical and Operational Decisions Under Risk and Uncertainty: A Two-Layer Model Framework

Pedestrian tactical choices and operational movement in evacuations essentially pertain to decision-making under risk and uncertainty. However, in microscopic evacuation models, this attribute has been greatly overlooked, even lacking a methodology to delineate the related decision characteristics (bounded rationality and risk attitudes), let...

Dynamic Anomaly Detection with High-fidelity Simulators: A Convex Optimization Approach

The main objective of this article is to develop scalable dynamic anomaly detectors with high-fidelity simulators of power systems. On the one hand, models in high-fidelity simulators are typically 'intractable' if one opts to describe them in a mathematical formulation in order to apply existing model-based approaches from the anomaly...

Short-Term Traffic Flow Prediction Based on the Efficient Hinging Hyperplanes Neural Network

Traffic flow (TF) prediction is an important and yet a challenging task in transportation systems, since the TF involves high nonlinearities and is affected by many elements. Recently, neural networks have attracted much attention for TF prediction, but they are commonly black boxes with complex architectures and difficult to be interpreted,...

Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address...

Excitation allocation for generic identifiability of linear dynamic networks with fixed modules

Identifiability of linear dynamic networks requires the presence of a sufficient number of external excitation signals. The problem of allocating a minimal number of external signals for guaranteeing generic network identifiability in the full measurement case has been recently addressed in the literature. Here we will extend that work by...

Estimating Single-Epoch Integrated Atmospheric Refractivity from InSAR for Assimilation in Numerical Weather Models

Numerical weather prediction (NWP) models are used to predict the weather based on current observations in combination with physical and mathematical models. Yet, they are limited by the spatial density and the accuracy of the available observations. Satellite radar interferometry (InSAR) is known to be extremely sensitive to the 3D...

Stability and Accuracy Analysis of a Distributed Digital Real-Time Co-simulation Infrastructure

Cosimulation techniques are gaining popularity amongst the power system research community to analyze future scalable smart grid solutions. However, complications such as multiple communication protocols, uncertainty in latencies are holding up the widespread usage of these techniques for the power system analysis. These issues are even...

Task-Aware Connectivity Learning for Incoming Nodes Over Growing Graphs

Data processing over graphs is usually done on graphs of fixed size. However, graphs often grow with new nodes arriving over time. Knowing the connectivity information of these nodes, and thus, the expanded graph is crucial for processing data over the expanded graph. In its absence, its inference and the subsequent data processing become...

Simulation of ultrasonic beam propagation from phased arrays in anisotropic media using linearly phased multi-Gaussian beams

Phased array ultrasonic testing is widely used to test structures for flaws due to its ability to produce steered and focused beams. The inherent anisotropic nature of some materials, however, leads to skewing and distortion of the phased array beam and consequently measurement errors. To overcome this, a quantitative model of phased array...

Influence of Micro-Pore Connectivity and Micro-Fractures on Calcium Leaching of Cement Pastes: A Coupled Simulation Approach

A coupled numerical approach is used to evaluate the influence of pore connectivity and microcracks on leaching kinetics in fully saturated cement paste. The unique advantage of the numerical model is the ability to construct and evaluate a material with controlled properties, which is very difficult under experimental conditions. Our analysis...

MOHA: A Multi-Mode Hybrid Automaton Model for Learning Car-Following Behaviors

This paper proposes a novel hybrid model for learning discrete and continuous dynamics of car-following behaviors. Multiple modes representing driving patterns are identified by partitioning the model into groups of states. The model is visualizable and interpretable for car-following behavior recognition, traffic simulation, and human-like...

A Partition-Enabled Multi-Mode Band Approach to Arterial Traffic Signal Optimization

Arterial traffic signal coordination makes traffic flow more efficient and safer. This paper presents a partition-enabled multi-mode band (PM-BAND) model that is designed to solve the signal coordination problem for arterials with multiple modes, i.e., passenger cars and transit vehicles. The proposed method permits the progression bands to...