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This paper considers the filtering problem which consists in reconstructing the state of a dynamical system with partial observations coming from sensor measurements, and the knowledge that the dynamics are governed by a physical PDE model…
In modeling solute transport with mobile-immobile mass transfer (MIMT), it is common to use an advection-dispersion equation (ADE) with a retardation factor, or retarded ADE. This is commonly referred to as making the local equilibrium…
To appropriately select control nodes of a large-scale network system, we propose two control centralities called volumetric and average energy controllability scores. The scores are the unique solutions to convex optimization problems…
We consider the problem of sensor selection for designing observer and filter for continuous linear time invariant systems such that the sensor precisions are minimized, and the estimation errors are bounded by the prescribed…
The model reduction problem for semistable infinite-dimensional control systems is studied in this paper. In relation to these systems, we study an object we call the semistability Gramian, which serves as a generalization of the ordinary…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Effective application of mathematical models to interpret biological data and make accurate predictions often requires that model parameters are identifiable. Approaches to assess the so-called structural identifiability of models are…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
We consider the classical sensor scheduling problem for linear systems where only one sensor is activated at each time. We show that the sensor scheduling problem has a close relation to the sensor design problem and the solution of a…
We introduce an approach for exploring eigenvector localization phenomena for a class of (unbounded) selfadjoint operators. More specifically, given a target region and a tolerance, the algorithm identifies candidate eigenpairs for which…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Active Position Estimation (APE) is the task of localizing one or more targets using one or more sensing platforms. APE is a key task for search and rescue missions, wildlife monitoring, source term estimation, and collaborative mobile…
Fault diagnosis is the problem of determining a set of faulty system components that explain discrepancies between observed and expected behavior. Due to the intrinsic relation between observations and sensors placed on a system, sensors'…
This study introduces a systematic and optimised methodology for designing Linear Variable Differential Transformer (LVDT) sensors and Voice Coil (VC) actuators, tailored for high-precision applications such as gravitational wave detectors…
Recent years have witnessed a wave of research activities in systems science toward the study of population systems. The driving force behind this shift was geared by numerous emerging and ever-changing technologies in life and physical…
Sensors play a key role in detecting both charged particles and photons for all three frontiers in Particle Physics. The signals from an individual sensor that can be used include ionization deposited, phonons created, or light emitted from…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
We present a novel method for estimating the circulations and positions of point vortices using trajectory data of passive particles in the presence of Gaussian noise. The method comprises two algorithms: the first one calculates the vortex…
In this paper the empirical observability Gramian calculated around the operating region of a power system is used to quantify the degree of observability of the system states under specific phasor measurement unit (PMU) placement. An…
For a robot with redundant sensors and actuators distributed throughout its body, it is difficult to construct a controller or a neural network using all of them due to computational cost and complexity. Therefore, it is effective to…