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Vision-Language-Action (VLA) models have recently emerged as powerful generalists for robotic manipulation. However, due to their predominant reliance on visual modalities, they fundamentally lack the physical intuition required for…
Precise assembly of composite fuselages is critical for aircraft assembly to meet the ultra-high precision requirements. Due to dimensional variations, there is a gap when two fuselage assemble. In practice, actuators are required to adjust…
Reinforcement Learning (RL) is an emerging approach to control many dynamical systems for which classical control approaches are not applicable or insufficient. However, the resultant policies may not generalize to variations in the…
Identifying dynamic transactions between brain regions has become increasingly important. Measurements within and across brain structures, demonstrating the occurrence of bursts of beta/gamma oscillations only during one specific phase of…
Vehicle automation technology has made significant progress, laying the groundwork for a future of fully automated vehicles. This paper delves into the operation of connected and automated vehicles (CAVs). In prior work, we developed a…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
To simulate the interaction of ocean waves with marine structures, coupling approaches between a potential flow model and a viscous model are investigated. The first model is a fully nonlinear potential flow (FNPF) model based on the…
Transformers are state-of-the-art models for a variety of sequence modeling tasks. At their core is an attention function which models pairwise interactions between the inputs at every timestep. While attention is powerful, it does not…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
Phase reduction is a general tool widely used to describe forced and interacting self-sustained oscillators. Here we explore the phase coupling functions beyond the usual first-order approximation in the strength of the force. Taking the…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
In this paper, the dynamic couplings among different inputs and outputs of a highly nonlinear spark ignition (SI) engine control problem during the cold start phase are evaluated by using relative gain array (RGA) technique. First, based on…
Fluid antenna (FA) technology has recently emerged as an effective means of exploiting spatial diversity through position-domain reconfigurability. This paper investigates the integration of FA into over-the-air federated learning (OTA-FL)…
In this paper, an actuator active fault-tolerant controller (FTC) is proposed for the voltage source converter (VSC) which interfaces a distributed energy resource (DER) to the power grid. The proposed active FTC includes two units:…
Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging…
Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…
We extend the Annually Recalculated Virtual Annuity (ARVA) spending rule for retirement savings decumulation to include a cap and a floor on withdrawals. With a minimum withdrawal constraint, the ARVA strategy runs the risk of depleting the…
We investigate energy transfer and localization in a linear time-invariant oscillator chain weakly coupled to a forced nonlinear actuator. Two types of perturbation are studied: (1) harmonic forcing with a constant frequency is applied to…