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Computational constraints permeate the controller design process, and yet are rarely treated as explicit design constraints. Towards addressing this gap, we propose a quantitative framework that captures the effects of common design…
Integrated sensing, communication, and computation (ISCC) has been regarded as a prospective technology for the next-generation wireless network, supporting humancentric intelligent applications. However, the delay sensitivity of these…
Modern cyber-physical systems, such as automotive control, rely on feedback controllers that regulate the system towards desired a setpoint. In practice, however, the controller must also be scheduled efficiently on resource-constrained…
For the tracking stage path planning, we design a two-axis cross-coupling control system which uses the PI controller to compensate the contour error between axes. In this paper, the stage adoptive is designed by our laboratory (Precision…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
State-of-the-art Transformer-based models, with gigantic parameters, are difficult to be accommodated on resource constrained embedded devices. Moreover, with the development of technology, more and more embedded devices are available to…
This paper proposes a systematic and novel component level co-rotational (CR) framework, for upgrading existing 3D continuum finite elements to flexible multibody analysis. Without using any model reduction techniques, the high efficiency…
The use of deep learning has grown at an exponential rate, giving rise to numerous specialized hardware and software systems for deep learning. Because the design space of deep learning software stacks and hardware accelerators is diverse…
Accurate and efficient wave-optics simulation of partially coherent light transport systems is critical for the design of advanced optical systems, ranging from computational lithography to diffraction-limited storage rings (DLSR). However,…
The compression of real-world scanned 3D human dynamic meshes is an emerging research area, driven by applications such as telepresence, virtual reality, and 3D digital streaming. Unlike synthesized dynamic meshes with fixed topology,…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Modern and future high precision pointing space missions face increasingly high challenges related to the widespread use of large flexible structures. The development of new modeling tools which are able to account for the multidisciplinary…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical…
The rise of power-efficient embedded computers based on highly-parallel accelerators opens a number of opportunities and challenges for researchers and engineers, and paved the way to the era of edge computing. At the same time, advances in…
Communication overhead is one of the major performance bottlenecks in large-scale distributed computing systems, in particular for machine learning applications. Conventionally, compression techniques are used to reduce the load of…
The design of adaptive structures is one method to improve sustainability of buildings. Adaptive structures are able to adapt to different loading and environmental conditions or to changing requirements by either small or large shape…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…