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In industrial systems, certain process variables that need to be monitored for detecting faults are often difficult or impossible to measure. Soft sensor techniques are widely used to estimate such difficult-to-measure process variables…
The inherent complexity of boundary plasma, characterized by multi-scale and multi-physics challenges, has historically restricted high-fidelity simulations to scientific research due to their intensive computational demands. Consequently,…
This work presents a scalable control framework based on nonlinear Model Predictive Control for high-dimensional dynamical systems. The proposed approach addresses the key challenges of model scalability and partial observability by…
Data transmission accounts for significant energy consumption in wireless sensor networks where streaming data is generatedby the sensors. This impedes their use in many settings, including livestock monitoring over large pastures (which…
Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
In applications, such as biomedicine and systems/synthetic biology, technical limitations in actuation complicate implementation of time-varying control signals. In order to alleviate some of these limitations, it may be desirable to derive…
An inertial sensor design is proposed in this paper to achieve high sensitivity and large dynamic range in the sub-Hz frequency regime. High acceleration sensitivity is obtained by combining optical cavity readout systems with…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…
The development of robust learning-based control algorithms for unstable systems requires high-quality, real-world data, yet access to specialized robotic hardware remains a significant barrier for many researchers. This paper introduces a…
This work highlights the duality between state estimation methods and model predictive control. A predictive controller, observed control, is presented that uses this duality to efficiently compute control actions with linear time-horizon…
The process monitoring task is characterized by stringent demands for accuracy and efficiency. Current transformer-based methods, characterized by self-attention for temporal fusion, exhibit limitations in accurately understanding the…
We study sensor scheduling for continuous-discrete Kalman filtering with Poisson measurement arrivals and propose an information-form deterministic surrogate for scalable offline design. Unlike the covariance-form surrogate, the sensing…
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
Modern industrial facilities generate large volumes of raw sensor data during the production process. This data is used to monitor and control the processes and can be analyzed to detect and predict process abnormalities. Typically, the…
An islanded microgrid supplied by multiple distributed energy resources (DERs) often employs droop-control mechanisms for power sharing. Because microgrids do not include inertial elements, and low pass filtering of noisy measurements…
XeBRA is a flexible cryogenic platform designed to perform research and development for liquid xenon detectors searching for rare events. Its extra-large outer cryostat makes it possible to install a wide variety of detector designs. We…
We introduce a cost-efficient, and open-source measurement system for measuring and monitoring indoor air quality, aerosol concentration, dust contamination, and comfort-relevant quantities. The system allows to access these quantities…
In this paper we address the problem of sensorless control of the 1-DOF magnetic levitation system. Assuming that only the current and the voltage are measurable, we design an adaptive state observer using the technique of signal injection.…
Autonomous vehicles and mobile robotic systems are typically equipped with multiple sensors to provide redundancy. By integrating the observations from different sensors, these mobile agents are able to perceive the environment and estimate…