Related papers: Active Disturbance Rejection Control (ADRC) Toolbo…
In this paper we describe the design and implementation of a current controller for a reluctance synchronous machine based on continuous set nonlinear model predictive control. A computationally efficient grey box model of the flux linkage…
Designing effective policies for the online 3D bin packing problem (3D-BPP) has been a long-standing challenge, primarily due to the unpredictable nature of incoming box sequences and stringent physical constraints. While current deep…
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…
This paper reports on Matlab Channel Access (MCA) Toolbox Matlab [1] interface to Epics Channel Access (CA) client library. We are developing the toolbox for SPEAR3 accelerator controls but it is of general use for accelerator and…
Many machine learning models are susceptible to adversarial attacks, with decision-based black-box attacks representing the most critical threat in real-world applications. These attacks are extremely stealthy, generating adversarial…
Iterative learning control (ILC) is a method for reducing system tracking or estimation errors over multiple iterations by using information from past iterations. The disturbance observer (DOB) is used to estimate and mitigate disturbances…
The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this…
By using small computing devices deployed at user premises, Autonomous Demand Response (ADR) adapts users electricity consumption to given time-dependent electricity tariffs. This allows end-users to save on their electricity bill and…
How to construct an interpretable autonomous driving decision-making system has become a focal point in academic research. In this study, we propose a novel approach that leverages large language models (LLMs) to generate executable,…
The rapid expansion of research on Large Language Model (LLM) safety and robustness has produced a fragmented and oftentimes buggy ecosystem of implementations, datasets, and evaluation methods. This fragmentation makes reproducibility and…
The objective of this paper is to design an efficient and convergent alternating direction method of multipliers (ADMM) for finding a solution of medium accuracy to conic programming problems whose constraints consist of linear equalities,…
Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Two culprits are (1) the lack of verifiability of proposed…
In this work, we present MADRaS, an open-source multi-agent driving simulator for use in the design and evaluation of motion planning algorithms for autonomous driving. MADRaS provides a platform for constructing a wide variety of highway…
One of the main obstacles in full-duplex radios is analog-to-digital converter (ADC) saturation on a receiver due to the strong self-interference (SI). To solve this issue, researchers have proposed two different types of analog…
In standard adversarial training, models are optimized to fit one-hot labels within allowable adversarial perturbation budgets. However, the ignorance of underlying distribution shifts brought by perturbations causes the problem of robust…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
This paper develops adaptive output tracking control schemes with the reference output signal generated from an unknown reference system whose output derivatives are also unknown. To deal with such reference system uncertainties, an…
This study presents novel drag reduction active-flow-control (AFC) strategies} for a three-dimensional cylinder immersed in a flow at a Reynolds number based on freestream velocity and cylinder diameter of $Re_D=3900$. The cylinder in this…
A powerful and robust control system is a crucial, often neglected, pillar of any modern, complex physics experiment that requires the management of a multitude of different devices and their precise time synchronisation. The AEgIS…
Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…