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Invariant-based inverse engineering is an elegant approach to quantum control with corresponding experimental implementations that perform tasks with applications in quantum information processing such as shuttling trapped ions. We build on…
This paper introduces a new prototype system for controlling a PC by head movements and also with voice commands. Our system is a multimodal interface concerned with controlling the computer. The selected modes of interaction are speech and…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse…
Conventional quadrotors received great attention in trajectory design and fault-tolerant control in these years. The direction of each thrust is perpendicular to the body because of the geometrics in mechanical design. Comparing with the…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
In this paper, we propose a method to automatically and efficiently tune high-dimensional vectors of controller parameters. The proposed method first learns a mapping from the high-dimensional controller parameter space to a lower…
We study rolling radii solutions in the context of the four- and five-dimensional effective actions of heterotic M-theory. For the standard four-dimensional solutions with varying dilaton and T-modulus, we find approximate five-dimensional…
As a standard keyboard is quite spacious many inventions try to use the space of keyboard to use for various activities. A modular keyboard is designed in such a way that the components of the keyboard can be attached and detached as per…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
Recent models for discrete euclidean quantum gravity incorporate a sum over simplicial triangulations. We describe an algorithm for simulating such models in general dimensions. As illustration we show results from simulations in four…
In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Dynamic evolution behaviors of dimension-varying control systems often appear in the genetic regulatory network and the vehicle clutch system etc. An interesting and significant study on dimension-varying control systems is how to realize…
The soft keyboards are onscreen representation of physical keyboard having alphanumeric characters and other controls. The user operates the soft keyboard with the mouse, a stylus or other pointing device. The soft keys dont have any…
This report describes an approach for simulating multi-body contacts of actively-controlled systems. In this work, we focus on the controls and contact simulation of a 2-dimensional bipedal robot kicking a circular ball.
Quantum simulation is a promising application for quantum computing. Quantum simulation algorithms may require the ability to control the time evolution unitary. Naive techniques to control a unitary can substantially increase the required…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
In this paper we propose an easy algorithm for real time hand finger counting involving one or more than one hand. Hand finger counting is a simple medium for Human-Computer Interface which can prove to be a convenient input method for…