Related papers: Nonlinear Decelerator for Payloads in Aerial Deliv…
Hysteretic damping is often modeled by means of linear viscoelastic approaches such as "nearly constant Attenuation (NCQ)" models. These models do not take into account nonlinear effects either on the stiffness or on the damping, which are…
Cloud platforms are increasing their emphasis on sustainability and reducing their operational carbon footprint. A common approach for reducing carbon emissions is to exploit the temporal flexibility inherent to many cloud workloads by…
This work presents an experimental design for studying low-velocity collisions into granular surfaces in low-gravity. In the experiment apparatus, reduced-gravity is simulated by releasing a free-falling projectile into a surface container…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
By using a non-local model, fluid simulations can capture kinetic effects in the parallel electron heat-flux better than is possible using flux limiters in the usual diffusive models. Non-local and diffusive models are compared using a test…
We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…
This work proposes a model for granular deformation that predicts the stress and velocity profiles in well-developed dense granular flows. Recent models for granular elasticity (Jiang and Liu 2003) and rate-sensitive plastic flow (Jop et…
With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…
In this article we look at the potential of cloud containers and we provide some guidelines for companies and organisations that are starting to look at how to migrate their legacy infrastructure to something modern, reliable and scalable.…
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially…
The main subject of this thesis rests on the study ---at different levels of description--- of instabilities in systems which are driven, i.e., maintained far from equilibrium by an external forcing. We focus here on two main classes,…
We have developed a numerical simulation code that treats the transport and acceleration of charged particles crossing an idealized oblique, non-relativistic shock within the framework of pitch angle transport using a finite-difference…
We study a model describing the slow flow of a fluid through a deformable, porous, elastic solid undergoing small deformations. The stress-strain relationship of the solid incorporates nonlinear effects, formulated as a perturbation of the…
An electrostatic in-plane overlap varying energy harvester is modeled and simulated using a circuit simulator. Both linear and nonlinear models are investigated. The nonlinear model includes mechanical stoppers at the displacement extremes.…
The problem of autonomous launch and landing of a tethered rigid aircraft for airborne wind energy generation is addressed. The system operates with ground-based power conversion and pumping cycles, where the tether is repeatedly reeled in…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This paper discusses an approach to inertial parameter estimation for the case of cargo carrying spacecraft that is based on causal learning, i.e. learning from the responses of the spacecraft, under actuation. Different spacecraft…
Commonly used linear and nonlinear constitutive material models in deformation simulation contain many simplifications and only cover a tiny part of possible material behavior. In this work we propose a framework for learning customized…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…