30 citations · 179 across the 20 of their papers we have counts for
20 papers
Intrinsic nonlinear elasticity: An exterior calculus formulation
Ramy Rashad, Andrea Brugnoli, Federico Califano +2
In this paper we formulate the theory of nonlinear elasticity in a geometrically intrinsic manner using exterior calculus and bundle-valued differential forms. We represent kinemat…
Finite element hybridization of port-Hamiltonian systems
Andrea Brugnoli, Ramy Rashad, Yi Zhang +1
In this contribution, we extend the hybridization framework for the Hodge Laplacian [Awanou et al., Hybridization and postprocessing in finite element exterior calculus, 2023] to p…
Learning passive policies with virtual energy tanks in robotics
Riccardo Zanella, Gianluca Palli, Stefano Stramigioli +1
Within a robotic context, we merge the techniques of passivity-based control (PBC) and reinforcement learning (RL) with the goal of eliminating some of their reciprocal weaknesses,…
Discovering Efficient Periodic Behaviours in Mechanical Systems via Neural Approximators
Yannik Wotte, Sven Dummer, Nicolò Botteghi +3
It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these pe…
On the use of energy tanks for robotic systems
Federico Califano, Ramy Rashad, Cristian Secchi +1
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article h…
The Principle Bundle Structure of Continuum Mechanics
Stefano Stramigioli
In this paper it is shown that the structure of the configuration space of any continua is what is called in differential geometry a {\it principle bundle} \cite{Frankel2011ThePhys…
A differential geometric description of thermodynamics in continuum mechanics with application to Fourier-Navier-Stokes fluids
Federico Califano, Ramy Rashad, Stefano Stramigioli
A description of thermodynamics for continuum mechanical systems is presented in the coordinate-free language of exterior calculus. First, a careful description of the mathematical…
Dual field structure-preserving discretization of port-Hamiltonian systems using finite element exterior calculus
Andrea Brugnoli, Ramy Rashad, Stefano Stramigioli
In this paper we propose a novel approach to discretize linear port-Hamiltonian systems while preserving the underlying structure. We present a finite element exterior calculus for…
Energetic decomposition of Distributed Systems with Moving Material Domains: the port-Hamiltonian model of Fluid-Structure Interaction
Federico Califano, Ramy Rashad, Frederic P. Schuller +1
We introduce the geometric structure underlying the port-Hamiltonian models for distributed parameter systems exhibiting moving material domains.
Towards Autonomous Pipeline Inspection with Hierarchical Reinforcement Learning
Nicolò Botteghi, Luuk Grefte, Mannes Poel +4
Inspection and maintenance are two crucial aspects of industrial pipeline plants. While robotics has made tremendous progress in the mechanic design of in-pipe inspection robots, t…
Low Dimensional State Representation Learning with Robotics Priors in Continuous Action Spaces
Nicolò Botteghi, Khaled Alaa, Mannes Poel +4
Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, su…
Image-guided Breast Biopsy of MRI-visible Lesions with a Hand-mounted Motorised Needle Steering Tool
Marta Lagomarsino, Vincent Groenhuis, Maura Casadio +3
A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-gui…
Geometric and energy-aware decomposition of the Navier-Stokes equations: A port-Hamiltonian approach
Federico Califano, Ramy Rashad, Frederic P. Schuller +1
A port-Hamiltonian model for compressible Newtonian fluid dynamics is presented in entirely coordinate-independent geometric fashion. This is achieved by use of tensor-valued diffe…
Port-Hamiltonian Modeling of Ideal Fluid Flow: Part II. Compressible and Incompressible Flow
Ramy Rashad, Federico Califano, Frederic P. Schuller +1
Part I of this paper presented a systematic derivation of the Stokes Dirac structure underlying the port-Hamiltonian model of ideal fluid flow on Riemannian manifolds. Starting fro…
Port-Hamiltonian Modeling of Ideal Fluid Flow: Part I. Foundations and Kinetic Energy
Ramy Rashad, Federico Califano, Frederic P. Schuller +1
In this two-parts paper, we present a systematic procedure to extend the known Hamiltonian model of ideal inviscid fluid flow on Riemannian manifolds in terms of Lie-Poisson struct…
Low Dimensional State Representation Learning with Reward-shaped Priors
Nicolò Botteghi, Ruben Obbink, Daan Geijs +5
Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal polic…
On Reward Shaping for Mobile Robot Navigation: A Reinforcement Learning and SLAM Based Approach
Nicolò Botteghi, Beril Sirmacek, Khaled A. A. Mustafa +2
We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw…
One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds
Alin Albu-Schaeffer, Dominic Lakatos, Stefano Stramigioli
For the study of highly nonlinear, conservative dynamic systems, finding special periodic solutions which can be seen as generalization of the well-known normal modes of linear sys…
Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated Hexarotor for Aerial Interaction
Ramy Rashad, Petra Kuipers, Johan Engelen +1
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the co…
Bipedal locomotion using variable stiffness actuation
Ludo C. Visser, Stefano Stramigioli, Raffaella Carloni
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying…