Related papers: Compact Variable-Gap Undulator with Hydraulic-Assi…
The internal flow in corrugated tubes of different helical pitch, covering from the laminar to turbulent regime, was studied in order to characterize the three-dimensional flow and the influence of corrugation geometry on pressure drop and…
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…
One common method for stabilizing robots after a push is the Instantaneous Capture Point, however, this has the fundamental limitation of assuming constant height. Although there are several works for balancing bipedal robots including…
The possibility that the magnetic shear-flow instability (MRI, Balbus-Hawley instability) might give rise to turbulence in a cylindric Couette flow is investigated through numerical simulations. The study is linear and the fluid flow is…
Since the undulator wall is being bombarded by photon produced in the ILC helical undulator, masks were installed inside the undulator to protect the superconducting undulator as well as the vacuum. The photon energy spectrum was used to…
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
This paper presents a trajectory tracking control strategy that modulates the active power injected by geographically distributed inverter-based resources to support transient stability. Each resource is independently controlled, and its…
In this work, we investigate the dynamics of vortex-induced vibration of an elastically mounted cylinder with very low values of mass and damping. We use two methods to investigate this canonical problem: first we calculate the…
Hybrid systems combine both discrete and continuous state dynamics. Power electronic inverters are inherently hybrid systems: they are controlled via discrete-valued switching inputs which determine the evolution of the continuous-valued…
Reinforcement Learning (RL) of contact-rich manipulation tasks has yielded impressive results in recent years. While many studies in RL focus on varying the observation space or reward model, few efforts focused on the choice of action…
Converter-interfaced power sources (CIPS) are hybrid control systems as they may switch between multiple operating modes. Due to increasing penetration, the hybrid behavior of CIPS, such as, wind turbine generators (WTG), may have…
One of the bottlenecks in solving combinatorial optimisation problems using quantum annealers is the emergence of exponentially-closing energy gaps between the ground state and the first excited state during the annealing, which indicates…
Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Impedance Control (VIC) for compliant interaction. However,…
The wavelength of undulatory kinematics of fish is an important parameter to determine their hydrodynamic performance. This study focuses on numerical examination of this feature by reconstructing the real physiological model and kinematics…
Natural swimmers usually perform undulations to propel themselves and perform a range of maneuvers. These include various biological species ranging from micro-sized organisms to large-sized fishes that undulate at typical kinematic…
This paper deals with the simultaneous gust and maneuver load alleviation problem of a seamless active morphing wing. The incremental nonlinear dynamic inversion with quadratic programming control allocation and virtual shape functions…
We present and compare different numerical schemes for the integration of the variational equations of autonomous Hamiltonian systems whose kinetic energy is quadratic in the generalized momenta and whose potential is a function of the…
In Part I of this paper series, a theoretical and numerical model for a a driven pendulum filled with liquid was developed. The system was analyzed in the framework of tuned liquid dampers (TLD) and hybrid mass liquid dampers (HMLD) theory.…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…