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With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
A consumer Behaviour model is considered in the context of a network of interacting individuals in an energy market. We propose and analyse a simple dynamical model of an ensemble of coupled active elements mimicking consumers' Behaviour,…
We investigate the slow passage through a pitchfork bifurcation in a spatially extended system, when the onset of instability is slowly varying in space. We focus here on the critical parameter scaling, when the instability locus propagates…
The classical pitchfork of singularity theory is a twice-degenerate bifurcation that typically occurs in dynamical system models exhibiting Z_2 symmetry. Non-classical pitchfork singularities also occur in many non-symmetric systems, where…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
A simple electronic circuit with a voltage controlled current source is investigated. The circuit exhibits rich dynamics upon varying the circuit elements such as L,C and R, and the control factor of the current source. Among several other…
The work reported here aims to address the effects of time-dependent parameters and stochasticity on decision-making in biological systems. We achieve this by extending previous studies that resorted to simple normal forms. Yet, we focus…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
An anti-lock braking system (ABS) is the primary motivation for this research. The ABS controller switches the actions of charging and discharging valves in the hydraulic actuator of the brake cylinder based on the wheels' angular speed and…
Feedback control theory has been extensively implemented to theoretically model human sensorimotor control. However, experimental platforms capable of manipulating important components of multiple feedback loops lack development. This paper…
For many physical systems the transition from a stationary solution to sustained small amplitude oscillations corresponds to a Hopf bifurcation. For systems involving impacts, thresholds, switches, or other abrupt events, however, this…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
Living organisms rely on endogenous feedback mechanisms to maintain homeostasis in the presence of uncertainty and environmental fluctuations. An emerging challenge at the interface of control systems engineering and synthetic biology is…
Recent years have seen increased interest in the design and deployment of smart grid devices and control algorithms. Each of these smart communicating devices represents a potential access point for an intruder spurring research into…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Spin masers are a prototype nonlinear dynamic system. They undergo a bifurcation at a critical amplification factor, transiting into a limit cycle phase characterized by a Larmor precession around the external bias magnetic field, thereby…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…