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Three cellular automaton (CA) models of increasing complexity are introduced to model driven diffusive systems related to the generalized Frenkel-Kontorova (FK) models recently proposed by Braun [Phys.Rev.E58, 1311 (1998)]. The models are…
In this paper, we propose a distributed flexible coupler antenna (FCA) array to enhance communication performance with low hardware cost. At each FCA, there is one fixed-position active antenna and multiple passive couplers that can move…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
Being intensively studied, visual object tracking has witnessed great advances in either speed (e.g., with correlation filters) or accuracy (e.g., with deep features). Real-time and high accuracy tracking algorithms, however, remain scarce.…
In December 2017, Seagate unveiled the Multi Actuator Technology to double the data performance of the future generation hard disk drives (HDD). This technology will equip drives with two dual stage actuators (DSA) each comprising of a…
Most Vision-Language-Action (VLA) systems integrate a Vision-Language Model (VLM) for semantic reasoning with an action expert generating continuous action signals, yet both typically run at a single unified frequency. As a result, policy…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
In this paper, a methodology for modelling a dynamic equivalent of an external area is presented. The equivalent consists of a generator with series impedance and a parallel load (generalized Ward equivalent), integrating control systems…
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…
In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
Activation functions (AF) are necessary components of neural networks that allow approximation of functions, but AFs in current use are usually simple monotonically increasing functions. In this paper, we propose trainable compound AF (TCA)…
Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for robustness and safety. In this paper, we use novel, bio-inspired airflow sensors to measure the airflow acting on a MAV, and we fuse this information in an Unscented…
By leveraging the underlying structures of the quadrotor dynamics, we propose multi-agent reinforcement learning frameworks to innovate the low-level control of a quadrotor, where independent agents operate cooperatively to achieve a common…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
The present study aims to investigate the effectiveness of plasma actuators in controlling the flow around a finite wall-mounted square cylinder (FWMSC) with a longitudinal aspect ratio of 4. The test is conducted in a small-scale closed…
This paper introduces a novel metric, termed the Generalized Fiedler Vector (GFV), to evaluate the \textit{dynamic connectivity} in power systems. The proposed metric leverages the network connectivity, represented by the system Laplacian…
Simultaneous planning and control of a large variety of unmanned aerial vehicles (UAVs) is tackled using the harmonic potential field (HPF) approach. A dense reference velocity field generated from the gradient of an HPF is used to regulate…