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This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
Generating accurate runtime safety estimates for autonomous systems is vital to ensuring their continued proliferation. However, exhaustive reasoning about future behaviors is generally too complex to do at runtime. To provide scalable and…
Recent developments of technology have enabled atomic spins as the most sensitive inertial and magnetic sensors. Atomic spin gyroscope (magnetometer) essentially outputs the estimate of the inertial rotation rate (magnetic filed) to be…
We present a non-iterative algorithm, FloatStepper, for coupling the motion of a rigid body and an incompressible fluid in computational fluid dynamics (CFD) simulations. The purpose of the algorithm is to remove the so-called added mass…
This study examines the center of pressure (CoP) movement of rigid pitching swept wings based on prior measurements by (Zhu, Breuer, 2023}. The wings analyzed feature sweep angles of $0^{\circ}$, $10^{\circ}$, and $20^{\circ}$, and are…
A method is presented for tracing the locus of a specific peak in the frequency response under variation of a parameter. It is applicable to periodic, steady-state vibrations of harmonically forced nonlinear mechanical systems. It operates…
Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity…
In this paper we address the problems of flux and speed observer design for voltage-fed induction motors with unknown rotor resistance and load torque. The only measured signals are stator current and control voltage. Invoking the recently…
In this study, a new approach based on adaptive dynamic programming (ADP) is proposed to control permanent magnet synchronous motors (PMSMs). The objective of this paper is to control the torque and consequently the speed of a PMSM when an…
The Kalman filter is the most powerful tool for estimation of the states of a linear Gaussian system. In addition, using this method, an expectation maximization algorithm can be used to estimate the parameters of the model. However, this…
The current context of launchers reusability requires the improvement of control algorithms for their liquid-propellant rocket engines. Their transient phases are generally still performed in open loop. In this paper, it is aimed at…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and…
The aim of this paper is two-fold: (1) to provide a detailed investigation of the turbulent flow in an inline high-shear rotor stator mixer; (2) to provide a comparison of two different classes of turbulence models and solution methods…
The Exact Regularized Point Particle (ERPP) method is extended to treat the interphase momentum coupling between particles and fluid in the presence of walls by accounting for the vorticity generation due to the particles close to solid…
In this paper, data-driven algorithms based on Koopman Operator Theory are applied to identify and predict the nonlinear dynamics of a vapor compression system and cabin temperature in a light-duty electric vehicle. By leveraging a…
Fuel consumption of heavy-duty vehicles such as tractors, bulldozers etc. is comparably high due to their scope of operation. The operation settings are usually fixed and not tuned to the environmental factors, such as ground conditions.…
An islanding detection scheme is developed using pulse compression probing (PCP). A state space system realization is taken from the probing output. The nu-gap metric is applied to compare the measured system to fully intact system and…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…