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We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer for dynamics fitting rooted in the notion of…

This article introduces a new transcription, change point localization, and mesh refinement scheme for direct optimization-based solutions and for uniform approximation of optimal control trajectories associated with a class of nonlinear…

A general quantum limit to the sensitivity of particle position measurements is derived following the simple principle of the Heisenberg microscope. The value of this limit is calculated for particles in the Rayleigh and Mie scattering…

Terahertz (THz) sensing is a promising imaging technology for a wide variety of different applications. Extracting the interpretable and physically meaningful parameters for such applications, however, requires solving an inverse problem in…

Manipulation of micro and nanoscale particles suspended in a fluidic medium is one among the defining goals of modern nanotechnology. Speckle tweezers (ST) by incorporating randomly distributed light fields have been used to apply…

In this paper we compute families of reduced order models that match a prescribed set of moments of a highly dimensional linear time-invariant system. First, we fully parametrize the models in the interpolation points and in the free…

This paper describes the speed control of a DC series motor for an accurate and high-speed performance. A neural network based controlling operation with fuzzy modeling is suggested in this paper. The driver units of these machines are…

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…

We present a new approach for electronic control of optical tweezers by using space-time-wavelength mapping (STWM), a technique that uses time-domain modulation to control local intensity values, and hence the resulting optical force, in…

Biophysical force spectroscopy tools - for example optical tweezers, magnetic tweezers, atomic force microscopy, - have been used to study elastic, mechanical, conformational and dynamic properties of single biological specimens from single…

This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the…

We present a method to design driving protocols that achieve fast thermal equilibration of a system of interest using techniques inspired by machine learning training algorithms. For example, consider a Brownian particle manipulated by…

We consider the problem of incentivization and optimal control of autonomous vehicles for improving traffic congestion. In our scenario, autonomous vehicles must be incentivized in order to participate in traffic improvement. Using the…

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…

HIF (Hypoxia Inducible Factor) is an oxygen-regulated transcription factor that mediates the intracellular response to hypoxia in human cells. There is increasing evidence that cell signaling pathways encode temporal information, and thus…

Normal thermal fluctuations of the cell membrane have been studied extensively using high resolution microscopy and focused light, particularly at the peripheral regions of a cell. We use a single probe particle attached non-specifically to…

Diffusion models have recently advanced Combinatorial Optimization (CO) as a powerful backbone for neural solvers. However, their iterative sampling process requiring denoising across multiple noise levels incurs substantial overhead. We…

In order to survive, reproduce and (in multicellular organisms) differentiate, cells must control the concentrations of the myriad different proteins that are encoded in the genome. The precision of this control is limited by the inevitable…

A coarse-grained computational procedure based on the Finite Element Method is proposed to calculate the normal modes and mechanical response of proteins and their supramolecular assemblies. Motivated by the elastic network model, proteins…

This paper develops a data-driven time-limited h2 model reduction method for discrete-time linear time-invariant systems. Specifically, we formulate and solve a regularized time-limited h2 model reduction problem using only noisy impulse…