Related papers: Non-sensitive axis feedback control of test mass i…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
In this paper, we propose a scheme to eliminate the influence of noises on system dynamics, by means of a sequential unsharp measurements and unitary feedback operations. The unsharp measurements are carried out periodically during system…
Today's mechanical sensors are capable of detecting extremely weak perturbations while operating near the standard quantum limit. However, further improvements can be made in both sensitivity and bandwidth when we reduce the noise…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
A drift mode accelerometer is a precision device that overcomes the much of the acceleration noise and readout dynamic range limitations of traditional electrostatic accelerometers. It has the potential of achieving acceleration noise…
Ultraprecise mechanical sensors offer an exciting avenue for testing new physics. While many of these sensors are tailored to detect inertial forces, magnetically levitated (Maglev) systems are particularly interesting, in that they are…
Vortex-Induced Vibrations (VIVs) of cylindrical structures present significant challenges in various engineering applications, including marine risers, tall buildings, and renewable energy systems. Hence, it is vital to control…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Mid-circuit measurements and feedback operations conditioned on the measurement outcomes are essential for implementing quantum error-correction on quantum hardware. When integrated in quantum many-body dynamics, they can give rise to novel…
The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…
We investigate critical quantum metrology,that is the estimation of parameters in many-body systems close to a quantum critical point, through the lens of Bayesian inference theory. We first derive a no-go result stating that any…
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing,…
In the control of bipedal locomotion, linear velocity of the center of mass has been widely accepted as a primary variable for summarizing a robot's state vector. The ubiquitous massless-legged linear inverted pendulum (LIP) model is based…
The VIRGO superattenuator (SA) is effective in depressing the seismic noise below the thermal noise level above 4 Hz. On the other hand, the residual mirror motion associated to the SA normal modes can saturate the dynamics of the…
The design of Proportional Integral-Derivative (PID) controller is involved to gain infinite stiffness using active vibration control system and it is a modification of previous work. The PID controller is a control loop feedback mechanism…
The Gravity Advanced Package is an instrument composed of an electrostatic accelerometer called MicroSTAR and a rotating platform called Bias Rejection System. It aims at measuring with no bias the non-gravitational acceleration of a…
In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…
This document contains two presentations which describe the working principles of a class of electrostatic multidimensional sensors and force actuators. The subject of the study is the search of the most effective methods for measuring the…