Related papers: Identification of Motor Parameters on Coupled Join…
As relative systematic frequency uncertainties in trapped-ion spectroscopy are approaching the low $10^{-18}$ range, motional frequency shifts account for a considerable fraction of the uncertainty budget. Micromotion, a driven motion…
This paper proposes a novel framework for active fault diagnosis and parameter estimation in linear systems operating in closed-loop, subject to unknown but bounded faults. The approach integrates set-membership identification with a cost…
Keypoint detection underpins many vision tasks, including pose estimation, viewpoint recovery, and 3D reconstruction, yet modern neural models remain vulnerable to small input perturbations. Despite its importance, formal robustness…
We propose a novel method for the estimation of rotor position, speed, and torque of a motor-pump system consisting of a progressive cavity pump (PCP) driven by an induction motor which operates under V/f open-loop control. We compute the…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
Tethered particle motion (TPM) --- the motion of a micro- or nanoparticle tethered to a substrate by a macromolecule --- is a system that has proven extremely useful for its ability to reveal physical features of the tether, because the…
Linear optics parameters are often estimated using readily available turn-by-turn (TbT) data. In-plane beta functions, which are the most common measurement objectives, can be estimated from the amplitudes or phases of TbT data, providing…
The paper addresses the problem of estimating robustly the external load torque in rotary actuator systems, when only the generated motor drive torque and angular displacement are the available input and output. We compare, theoretically…
Knowledge of the mechanical properties of materials is required for the design and analysis of engineering products, however, the characterisation of heterogeneous properties using traditional techniques is limited by spatial resolution or…
Induction motors are one of the most crucial electrical equipment and are extensively used in industries in a wide range of applications. This paper presents a machine learning model for the fault detection and classification of induction…
The paper aims at demonstrating communication capabilities of IPT. For this data communication is performed between two modules using the concept of IPT. IPT was deemed to be the best solution to the system houses a multi parameter…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
A methodology is presented for estimating average values for the temperature and the frictional traction over a tool-workpiece interface using measured values of force and torque applied to the tool. The approach was developed specifically…
The realization of efficient micro-machines built from active matter requires precise thermodynamic control far from equilibrium. Despite theoretical progress, the focus on single-parameter driving, coupled with strict theoretical…
We generalize entanglement detection with covariance matrices for an arbitrary set of observables. A generalized uncertainty relation is constructed using the covariance and commutation matrices, then a criterion is established by…
Model merging combines multiple homologous models into one model, achieving convincing generalization without the necessity of additional training. A key challenge in this problem is resolving parameter redundancies and conflicts across…
We present a method to determine the complex coupling parameter of a two-coupled-modes system by directly measuring the coupled eigenmodes rather than their eigenvalues. This method is useful because mode-mixing can be observed even if…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor…