The difficulty of many robot controls tasks stems from stochasticity and partial observability coupled with highly nonlinear dynamics. We propose to approximate nonlinear system dynamics using hybrid dynamics models and extend the POMDP framework to hybrid systems. To do this, we introduce a Bayesian inference based hybrid state evolution model that can be used to develop feasible motion plans ...

the dynamics of multicomponent adsorption in a fixed bed adsorber is examined numerically. the dynamic model of adsorption in the packed column included axial dispersion and variable space velocity along the bed for the multicomponent adsorption adsorption the pore fluid and the solid phase are in equilibrium with a nonlinear isotherm. the numerical solution is based upon the modified lax-wendr...

Recent numerical studies on an infinite number of identical spherical beads in Hertzian contact showed the presence of frequency bands [Jayaprakash, Starosvetsky, Vakakis, Peeters, and Kerschen, Nonlinear Dyn. 63, 359 (2011)]. These bands, denoted here as propagation and attenuation bands (PBs and ABs), are typically present in linear or weakly nonlinear periodic media; however, their counterpa...

One of the approaches to sampled-data controller design for nonlinear continuoustime systems consists of obtaining an appropriate model and then proceeding to design a controller for the model. Hence, it is important to derive a good approximate sampled-data model because the exact sampled-data model for nonlinear systems is often unavailable to the controller designers. Recently, Yuz and Goodw...

– We analyze the morphological transition of a one-dimensional system described by a scalar field, where a flat state looses its stability. This scalar field may for example account for the position of a crystal growth front, an order parameter, or a concentration profile. We show that two types of dynamics occur around the transition: weakly nonlinear dynamics, or highly nonlinear dynamics. Th...