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To date, power electronics parameter design tasks are usually tackled using detailed optimization approaches with detailed simulations or using brute force grid search grid search with very fast simulations. A new method, named…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be…
Sinusoidal undulation has long been considered the most successful swimming pattern for fish and bionic aquatic robots [1]. However, a swimming pattern generated by the hair clip mechanism (HCM, part iii, Figure 1A) [2]~[5] may challenge…
In this study, a heuristic dynamic programming controller is proposed to control a boost converter. Conventional controllers such as proportional integral-derivative (PID) or proportional integral (PI) are designed based on the linearized…
Controlling gas turbines (GTs) efficiently is vital as GTs are used to balance power in onshore/offshore hybrid power systems with variable renewable energy and energy storage. However, predictive control of GTs is non-trivial when…
This paper introduces a hypothetical hybrid control framework for port-Hamiltonian (p$\mathcal{H}$) systems, employing a dynamic decomposition based on Data-Assisted Control (DAC). The system's evolution is split into two parts with fixed…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
The topological structure of basin boundaries plays a fundamental role in the sensitivity to the initial conditions in chaotic dynamical systems. Herewith we present a study on the dynamics of dissipative systems close to the Hamiltonian…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
The excitation conditions of the magnetorotational instability are studied for axially unbounded Taylor-Couette flows of various gap widths between the cylinders. The cylinders are considered as made from both perfect-conducting or…
The paper treats oscillations of a liquid in partially filled vessel under horizontal harmonic ground excitation. Such excitation may lead to hydraulic impacts. The liquid sloshing mass is modeled by equivalent pendulum, which can impact…
There is a growing need for uncrewed aerial vehicles (UAVs) to operate in cities. However, the uneven urban landscape and complex street systems cause large-scale wind gusts that challenge the safe and effective operation of UAVs. Current…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP…
High harmonics have emerged as a powerful ultrafast probe of phonon dynamics and electron-phonon interactions in solids, with most studies focusing on odd harmonics. Here, in a pump-probe setup with variable delay, we theoretically…
An asymptotic preserving and energy stable scheme for the barotropic Euler system under the low Mach number scaling is designed and analysed. A velocity shift proportional to the pressure gradient is introduced in the convective fluxes,…
Passive flow control research is commonly utilized to provide desirable drag and oscillating lift reduction across a range of engineering applications. This research explores the spanwise undulated cylinder inspired by seal whiskers, shown…
In this paper we develop a framework for studying unstratified, magnetised eccentric discs and compute uniformly precessing eccentric modes in a cylindrical annulus which provide convenient initial conditions for numerical simulations. The…