Related papers: Fuzzy Logic Based Direct Torque Control Of Inducti…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
STATCOMs is used widely in power systems these days. Traditionally, this converter was controlled using a double-loop control or Direct Output Voltage (DOV) controller. But DOV controller do not function properly during a three-phase fault…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
We present an experimental study of reactive control of turbulent jets. We target axisymmetric disturbances associated with coherent structures, which are known to underpin the peak sound radiation of turbulent jets. We first consider a…
Accurately estimating risk in real-time is essential for ensuring the safety and efficiency of many applications involving autonomous robot systems. This paper presents a novel, generalizable algorithm for the real-time estimation of risks…
More and more, new ways of interaction between humans and robots are desired, something that allow us to program a robot in an intuitive way, quickly and with a high-level of abstraction from the robot language. In this paper is presented a…
When learning skills from demonstrations, one is often required to think in advance about the appropriate task representation (usually in either operational or configuration space). We here propose a probabilistic approach for…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
The torque motor is the most common technology used in electrohydraulic two-stage servovalves to drive the hydraulic pilot stage. As it is a key component in these valves, its performance considerably affects the overall performance of…
A comparative analysis of vector control scheme based on different current control switching pulses (HC, SPWM, DPWM and SVPWM) for the speed response of motor drive is analysed in this paper. The control system using different switching…
The growing focus on reducing energy consumption, particularly in electric vehicles with limited autonomy, has prompted innovative solutions. In this context, we propose a real-time flap-based control system aimed at improving aerodynamic…
This paper presents a method for robot self-recognition and self-adaptation through the analysis of the contact between the robot end effector and its surrounding environment. Often, in off-line robot programming, the idealized robotic…
Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…
The motivation behind mathematically modeling the human operator is to help explain the response characteristics of the complex dynamical system including the human manual controller. In this paper, we present two different fuzzy logic…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
Traffic is the chief puzzle problem which every country faces because of the enhancement in number of vehicles throughout the world, especially in large urban towns. Hence the need arises for simulating and optimizing traffic control…
Predictive Stator Current Control (PSCC) has been proposed for control of multi-phase drives. The flexibility offered by the use of a Cost Function has been used to deal with the increased number of phases. However, tuning of the Weighting…