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Soft robots are challenging to model and control as inherent non-linearities (e.g., elasticity and deformation), often requires complex explicit physics-based analytical modeling (e.g., a priori geometric definitions). While machine…
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance…
We describe a new, low-cost system designed to provide multi-sensor remote condition monitoring of modern scientific laboratories, as well as to allow users to perform actions from remote locations in case of detection of specified events.…
This work presents a passive sensing system for traffic monitoring using ambient Long Term Evolution (LTE) signals as a non-intrusive and scalable alternative to traditional surveillance methods. The approach employs a dual-receiver…
In this paper, we propose an efficient data-driven predictive control approach for general nonlinear processes based on a reduced-order Koopman operator. A Kalman-based sparse identification of nonlinear dynamics method is employed to…
This paper proposes a multiple-model adaptive control methodology, using set-valued observers (MMAC-SVO) for the identification subsystem, that is able to provide robust stability and performance guarantees for the closed-loop, when the…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
Latency-sensitive embedded applications increasingly rely on edge computing, yet dynamic network congestion in multi-server architectures challenges proper edge server selection. This paper proposes a lightweight server-selection method for…
The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where attack-mitigation approaches are not feasible, and the system…
In modern power systems, shiftable loads contribute to the flexibility needed to increase robustness and ensure security. Thermal loads are among the most promising candidates for providing such service due to the large thermal storage time…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
We introduce an adaptive method with formal quality guarantees for weak supervision in a non-stationary setting. Our goal is to infer the unknown labels of a sequence of data by using weak supervision sources that provide independent noisy…
The AI for Experimental Controls project is developing an AI system to control and calibrate detector systems located at Jefferson Laboratory. Currently, calibrations are performed offline and require significant time and attention from…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
We propose data-driven nonlinear smoother (DNS) to estimate a hidden state sequence of a complex dynamical process from a noisy, linear measurement sequence. The dynamical process is model-free, that is, we do not have any knowledge of the…
Telehealth and wearable equipment can deliver personal healthcare and necessary treatment remotely. One major challenge is transmitting large amount of biosignals through wireless networks. The limited battery life calls for low-power data…
We consider systems of slow--fast diffusions with small noise in the slow component. We construct provably logarithmic asymptotically optimal importance schemes for the estimation of rare events based on the moderate deviations principle.…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a…
The Simons Observatory (SO) is an upcoming polarized cosmic microwave background (CMB) survey experiment with three small-aperture telescopes and one large-aperture telescope that will observe from the Atacama Desert in Chile. In total, SO…