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Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
Miquel Oller, An Dang, Nima Fazeli
https://arxiv.org/abs/2509.13126 https://

Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich interactions -- remains underexplored. The central challenge is to capture the complex, nonlinear dynamics introduced by these passive-compliant elements. Here, we present a computationally efficient non-holonomic hydroelastic model that accurately models path-depende…

Detection and Classification of Internal Leakage in Hydraulic Cylinders
Mehrbod Zarifi, Mohamad Amin Jamshidi, Zolfa Anvari, Hamed Ghafarirad, Mohammad Zareinejad
https://arxiv.org/abs/2508.07436

Detection and Classification of Internal Leakage in Hydraulic Cylinders
Hydraulic systems have been one of the most used technologies in many industries due to their reliance on incompressible fluids that facilitate energy and power transfer. Within such systems, hydraulic cylinders are prime devices that convert hydraulic energy into mechanical energy. Some of the genuine and very common problems related to hydraulic cylinders are leakages. Leakage in hydraulic systems can cause a drop in pressure, general inefficiency, and even complete failure of such systems. T…

Quantification of the cascading tipping probability from the AMOC to the Amazon rainforest
Val\'erian Jacques-Dumas, Henk A. Dijkstra
https://arxiv.org/abs/2508.13383 https:…

Quantification of the cascading tipping probability from the AMOC to the Amazon rainforest
The Amazon rainforest and the AMOC are two key components of the Earth system and may both collapse under climate change. Due to its influence on precipitation patterns, a collapsed AMOC influences the dynamics of the Amazon rainforest. We investigate this effect using a coupled conceptual AMOC-Amazon model. The Amazon model is based on empirical hydrological data controlled by the AMOC strength. The AMOC model and its influence on the Amazon are tuned using a simulated AMOC collapse in the Com…

An End-to-End Differentiable, Graph Neural Network-Embedded Pore Network Model for Permeability Prediction
Qingqi Zhao, Heng Xiao
https://arxiv.org/abs/2509.13841 https://

An End-to-End Differentiable, Graph Neural Network-Embedded Pore Network Model for Permeability Prediction
Accurate prediction of permeability in porous media is essential for modeling subsurface flow. While pure data-driven models offer computational efficiency, they often lack generalization across scales and do not incorporate explicit physical constraints. Pore network models (PNMs), on the other hand, are physics-based and efficient but rely on idealized geometric assumptions to estimate pore-scale hydraulic conductance, limiting their accuracy in complex structures. To overcome these limitatio…

"commoner" and "more common" are respectively heterological and autological relative to each other.
Out of "commonest" and "most common", the former is heterological and the latter is autological.

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Data-driven optimization of sparse sensor placement in thermal hydraulic experiments
Xicheng Wang, Yun. Feng, Dmitry Grishchenko, Pavel Kudinov, Ruifeng Tian, Sichao Tan
https://arxiv.org/abs/2509.10055

Data-driven optimization of sparse sensor placement in thermal hydraulic experiments
Thermal-Hydraulic (TH) experiments provide valuable insight into the physics of heat and mass transfer and qualified data for code development, calibration and validation. However, measurements are typically collected from sparsely distributed sensors, offering limited coverage over the domain of interest and phenomena of interest. Determination of the spatial configuration of these sensors is crucial and challenging during the pre-test design stage. This paper develops a data-driven framework …

Calibrated Dynamic Modeling for Force and Payload Estimation in Hydraulic Machinery
Lennart Werner, Pol Eyschen, Sean Costello, Pierluigi Micarelli, Marco Hutter
https://arxiv.org/abs/2510.11574

Calibrated Dynamic Modeling for Force and Payload Estimation in Hydraulic Machinery
Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these forces allows improved, precise grading and digging maneuvers. To address these challenges, we introduce a high-accuracy, retrofittable 2D force- and payload estimation algorithm that does not impose additional requirements on the operator regarding trajectory, acceleration or the use of the slew joint. The approach is …

Geospatial Diffusion for Land Cover Imperviousness Change Forecasting
Debvrat Varshney, Vibhas Vats, Bhartendu Pandey, Christa Brelsford, Philipe Dias
https://arxiv.org/abs/2508.10649

Geospatial Diffusion for Land Cover Imperviousness Change Forecasting
Land cover, both present and future, has a significant effect on several important Earth system processes. For example, impervious surfaces heat up and speed up surface water runoff and reduce groundwater infiltration, with concomitant effects on regional hydrology and flood risk. While regional Earth System models have increasing skill at forecasting hydrologic and atmospheric processes at high resolution in future climate scenarios, our ability to forecast land-use and land-cover change (LULC…

Design and Development of a Remotely Wire-Driven Walking Robot
Takahiro Hattori, Kento Kawaharazuka, Kei Okada
https://arxiv.org/abs/2509.11506 https://arx…

Design and Development of a Remotely Wire-Driven Walking Robot
Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been developed, including autonomous mobile robots without electronics, hydraulic remotely actuated mobile robots, and long-reach robot arms driven by wires. Among these, electronics-free autonomous robots cannot make complex decisions, while hydraulically actuated m…