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Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
High renewable penetration has significantly reduced system inertia in modern power grids, increasing the need for fast frequency response (FFR) from distributed and non-traditional resources. While electric vehicles (EVs), data centers,…
Non-stationary forced oscillations (FOs) have been observed in power system operations. However, most detection methods assume that the frequency of FOs is stationary. In this paper, we present a methodology for the analysis of…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
We study the problem of decentralized secondary frequency regulation in power networks where ancillary services are provided via on-off load-side participation. We initially consider on-off loads that switch when prescribed frequency…
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…
Since many years, sub-60mV/decade switching has been reported in ferroelectric FETs. However, thus far these reports have lacked full physical explanation since they typically use a negative capacitance in the ferroelectric layer to be able…
Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…
This paper proposes an event-triggered sliding mode control (SMC) scheme combined with a backstepping algorithm for control of 2-DOF humanoid's lower-limb powered by Series elastic actuator (SEA). First, the modelling process for the…
A control design for error reduction in the tracking control for a class of non-lower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface…
Pneumatic artificial muscles are a quite interesting type of actuators which have a very high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods which can take into account their…
The nature of non-exponential kinetics in microbial cells inactivation by pulsed electric fields (PEF) is discussed. It was demonstrated that possible mechanism of non-exponential kinetics can be related to orientational disorder in…
Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the…
Combining the advantages of standard bicycles and electrified vehicles, electric bikes (e-Bikes) are promising vehicles to reduce emission and traffic. The current literature on e-Bikes ranges from works on the energy management to the…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
This paper proposes an original solution to input saturation and dead zone of fractional order system. To overcome these nonsmooth nonlinearities, the control input is decomposed into two independent parts by introducing an intermediate…
The energy-dependent electrical conductivity in spin-1 chiral fermion systems with disorder is studied using the self-consistent Born approximation. A distinct cusp-like feature appears at an energy different from the band-crossing point,…
Electrical muscle stimulation (EMS) can support physical-assistance (e.g., shaking a spray-can before painting). However, EMS-assistance is highly-specialized because it is (1) fixed (e.g., one program for shaking spray-cans, another for…
This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an…
Powered lower-limb exoskeletons provide assistive torques to coordinate limb motion during walking in individuals with movement disorders. Advances in sensing and actuation have improved the wearability and portability of state-of-the-art…