Related papers: A versatile and light-weight slow control system f…
We present Doberman (Detector OBsERving and Monitoring ApplicatioN), a lightweight, modular, and open-source slow control system designed for small-to medium-scale physics experiments. Doberman addresses the gap between heavyweight…
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller…
The XENON100 experiment, in operation at the Laboratori Nazionali del Gran Sasso (LNGS) in Italy, was designed to search for evidence of dark matter interactions inside a volume of liquid xenon using a dual-phase time projection chamber.…
The Sodium iodide Active Background Rejection Experiment-South (SABRE-South) is a direct dark matter detector soon to be deployed in the Stawell gold mine, in Victoria, Australia. Monitoring of external environmental and experimental…
This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the…
Recent advances in diffusion-based robot policies have demonstrated significant potential in imitating multi-modal behaviors. However, these approaches typically require large quantities of demonstration data paired with corresponding robot…
We present a method to obtain a data-driven Koopman operator-based model that adapts itself during operation and can be straightforwardly used for the controller and observer design. The adaptive model is able to accurately describe…
We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
The main purpose of a control allocator is to distribute a total control effort among redundant actuators. This paper proposes a discrete adaptive control allocator for over-actuated sampled-data systems in the presence of actuator…
Despite recent advances in video-based action recognition and robust spatio-temporal modeling, most of the proposed approaches rely on the abundance of computational resources to afford running huge and computation-intensive convolutional…
We present a NIM 2U slow-control system designed for continuous monitoring of environmental and facility parameters during data taking in nuclear physics experiments. The architecture integrates a base controller board with eight channels…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
This paper presents a modern and scalable framework for analyzing Detector Control System (DCS) data from the ATLAS experiment at CERN. The DCS data, stored in an Oracle database via the WinCC OA system, is optimized for transactional…
The operation of instruments and detectors in laboratory or beamline environments presents a complex challenge, requiring stable operation of multiple concurrent devices, often controlled by separate hardware and software solutions. These…
Achieving rapid and time-deterministic stabilization for complex systems characterized by strong nonlinearities and parametric uncertainties presents a significant challenge. Traditional model-based control relies on precise system models,…
The Koopman operator framework can be used to identify a data-driven model of a nonlinear system. Unfortunately, when the data is corrupted by noise, the identified model can be biased. Additionally, depending on the choice of lifting…
Data-driven soft sensors are extensively used in industrial and chemical processes to predict hard-to-measure process variables whose real value is difficult to track during routine operations. The regression models used by these sensors…
The PandaX-III experiment uses high pressure gaseous time projection chamber to search for the neutrinoless double beta decay of $^{136}$Xe. A modular slow control system~(SCS) has been designed to monitor all the critical parameters of the…