6 accepted papers
System identification in control theory aims to approximate dynamical systems from trajectory data. While neural networks have demonstrated strong predictive accuracy, they often fail to preserve critical physical properties such as stability and typically assume stationary dynamics, limiting their
This paper addresses the problem of Neural Network (NN) based adaptive stability certification in a dynamical system. The state-of-the-art methods, such as Neural Lyapunov Functions (NLFs), use NN-based formulations to assess the stability of a non-linear dynamical system and compute a Region of Att…
Magnetorheological fluid (MRF) clutch is a kind of passive actuator with advantages, like fast response and low inertia. However, due to the complex natural property, it is difficult to model such devices accurately, and this leads to degraded performance. In this letter, a steady-state model and tr
Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. However, due to anatomical and physiological variations between patients and relative movement of anatomical substructures
Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulate…
Visual localization is a crucial problem in mobile robotics and autonomous driving. One solution is to retrieve images with known pose from a database for the localization of query images. However, in environments with drastically varying conditions (e.g. illumination changes, seasons, occlusion, dy…