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The signal to noise ratio of quantum sensing protocols scales with the square root of the coherence time. Thus, increasing this time is a key goal in the field. Dynamical decoupling has proven to be efficient in prolonging the coherence…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
In this study, we developed an automated, multipoint primary accelerometer calibration system using a two-axis positioning stage and a heterodyne laser interferometer. The proposed system offers low-cost, convenient, and automated…
A neural networks (NN) compensator is designed for systems with multi-segment piecewise-linear nonlinearities. The compensator uses the back stepping technique with NN for inverting the multi-segment piecewise-linear nonlinearities in the…
The success of the model predictive path integral control (MPPI) approach depends on the appropriate selection of the input distribution used for sampling. However, it can be challenging to select inputs that satisfy output constraints in…
In this paper, we propose the Coupled Axial and Transverse currents (I) (CATI) method, as an efficient and accurate finite element approach for modelling the electric and magnetic behavior of periodic composite superconducting conductors.…
This paper presents a topology optimization approach to design 2D contact-aided compliant mechanisms (CCMs) that can trace the desired output paths with more than one kink while experiencing self and/or external contacts. Such CCMs can be…
We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…
CMOS sensors were successfully implemented in the STAR tracker [1]. LHC experiments have shown that efficient b tagging, reconstruction of displaced vertices and identification of disappearing tracks are necessary. An improved vertex…
Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…
While in a triggered experiment the matching of the RPC transmission line impedance with the one of the front-end electronics is less critical, for a trigger-less data recording this becomes mandatory. As expected, impedance matching is not…
Tight performance specifications in combination with operational constraints make model predictive control (MPC) the method of choice in various industries. As the performance of an MPC controller depends on a sufficiently accurate…
This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…
Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
Model diffing methods aim to identify how fine-tuning changes a model's internal representations. Crosscoders approach this by learning shared dictionaries of interpretable latent directions between base and fine-tuned models. However,…
Approximate computing trades off accuracy of results for resources such as energy or computing time. There is a large and rapidly growing literature on approximate computing that has focused mostly on showing the benefits of approximation.…
This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, via a linear matrix inequality, for which it is possible to…
Optimization with preference feedback is an active research area with many applications in engineering systems where humans play a central role, such as building control and autonomous vehicles. While most existing studies focus on…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…