Related papers: Suppressing nano-scale stick-slip motion by feedba…
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…
We find that the jump-into-contact of the cantilever in the atomic force microscope (AFM) is caused by an inherent instability in the motion of the AFM cantilever. The analysis is based on a simple model of the cantilever moving in a…
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitance, or force-torque measurements face fundamental trade-offs…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
The equations for the sliding of a single block driven by an elastic force show numerically a fast and a slow step in their dynamics when a dimensionless parameter is very large, a limit pertinent for many applications. An asymptotic…
Measurement-based control, utilizing an active feedback loop, is a standard tool in technology. Feedback control is also emerging as a useful and fundamental tool in quantum technology and in related fundamental studies, where it can be…
Microgrids have more operational flexibilities as well as uncertainties than conventional power grids, especially when renewable energy resources are utilized. An energy storage based feedback controller can compensate undesired dynamics of…
There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach…
Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…
3D nano-printing through two-photon polymerization enables monolithic manufacturing of mechanical and freeform micro-optical elements with high inherent alignment accuracy. However, viscoelasticity and temperature-dependent stiffness of the…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
Nanoscale biosensors are devices designed to detect analytes by combining biological components and physicochemical detectors. One of the well known methods of constructing these sensors is by using nanocantilevers. These microscopic…
Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich…
Using electrostatic coupling between an AFM tip and a metallic surface as a test interaction, we here present the measurement of the force between the tip and the surface, together with the measurement of the interaction stiffness and the…
We study the reach control problem for affine systems on simplices, and the focus is on cases when it is known that the problem is not solvable by continuous state feedback. We examine from a geometric viewpoint the structural properties of…
Considering channel flow at Reynolds numbers below the linear stability threshold of the laminar profile as a generic example system showing a subcritical transition to turbulence connected with the existence of simple invariant solutions,…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
We consider the decoherence of a pseudo-spin ensemble under collective random rotations, and study, both theoretically and experimentally, how a nondestructive measurement combined with real-time feedback correction can protect the state…
Atomic force microscopy (AFM) is a powerful tool to investigate interaction forces at the micro and nanoscale. Cantilever stiffness, dimensions and geometry of the tip can be chosen according to the requirements of the specific application,…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…