Related papers: Novel Force Estimation-based Bilateral Teleoperati…
To investigate the effect and ability of FACTS devices using the Fast and Flexible Holomorphic Embedding technique (FFHE), it is necessary to develop an embedded system for these devices. Therefore, this paper presents FFHE based embedded…
The utilization of teleoperation is a crucial aspect of the construction industry, as it enables operators to control machines safely from a distance. However, remote operation of these machines at a joint level using individual joysticks…
Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…
Unconditionally stable implicit time-marching methods are powerful in solving stiff differential equations efficiently. In this work, a novel framework to handle stiff physical terms implicitly is proposed. Both physical and numerical…
A new time-delay estimation (TDE) technique based on dynamic programming is developed, to measures the time-varying time-delay between two signals. Dynamic programming based TDE technique provides a frequency response 5 to 10 times higher…
A variety of experimental techniques have improved the 2D and 3D spatial resolution that can be extracted from \emph{in vivo} single-molecule measurements. This enables researchers to quantitatively infer the magnitude and directionality of…
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We derive sufficient conditions to guarantee robust stability…
In this paper, a novel cooperation-aided localization and tracking approach, suitable for terahertz (THz) wireless systems is presented. It combines an angle of arrival (AoA) tracking algorithm with the two-way time of arrival method, in…
State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wrenches, and velocities) are inherently infinite-dimensional…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal…
Context. With the arrival of the next generation of ground-based imaging interferometers combining from 4 to possibly 6 telescopes simultaneously, there is also a strong need for a new generation of fringe trackers able to cophase such…
A novel method for the numerical prediction of the slowly varying dynamics of nonlinear mechanical systems has been developed. The method is restricted to the regime of an isolated nonlinear mode and consists of a two-step procedure: In the…
A robust observer for performing power system dynamic state estimation (DSE) of a synchronous generator is proposed. The observer is developed using the concept of $\mathcal{L}_{\infty}$ stability for uncertain, nonlinear dynamic generator…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
Phasor measurement units ({PMUs}) have become instrumental in modern power systems for enabling real-time, wide-area monitoring and control. Accordingly, many studies have investigated efficient and robust dynamic state estimation (DSE)…
Accurate disturbance estimation is essential for safe robot operations. The recently proposed neural moving horizon estimation (NeuroMHE), which uses a portable neural network to model the MHE's weightings, has shown promise in further…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
Type-1 fuzzy logic has frequently been used in control systems. However this method is sometimes shown to be too restrictive and unable to adapt in the presence of uncertainty. In this paper we compare type-1 fuzzy control with several…