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We present a digital algorithm for measuring the phase difference between two sinusoidal signals that combines the modified fringe-counting method with two-sample zero crossing to enable sequential signal processing. This technique can be…
For decades, power system stabilizers paired with high initial response automatic voltage regulators have served as an effective means of meeting sometimes conflicting system stability requirements. Driven primarily by increases in power…
The gain of SiPMs depends both on bias voltage and on temperature. For stable operations, both need to be kept constant. In an ILC calorimeter with millions of channels, this is a challenging task. It is, therefore, desirable to compensate…
In this paper, we address the problem of stability and frequency regulation of a recently proposed inverter. In this type of inverter, the DC-side capacitor emulates the inertia of a synchronous generator. First, we remodel the dynamics…
We present a superheterodyne-scheme demodulation system which can detect the amplitude and phaseshift of weak radio-frequency signals with extraordinarily high stability and resolution. As a demonstration, we introduce a process to measure…
Integration of intermittent renewable energy sources in modern power systems is increasing very fast. Replacement of synchronous generators with zero-to-low variable renewables substantially decreases the system inertia. In a large system,…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
In this paper, we propose a novel scheme for sixdimensional (6D) radar sensing and tracking of dynamic target based on multiple input and multiple output (MIMO) array for monostatic integrated sensing and communications (ISAC) system.…
Mechanical image stabilization using actuated gimbals enables capturing long-exposure shots without suffering from blur due to camera motion. These devices, however, are often physically cumbersome and expensive, limiting their widespread…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
Time-bin encoded photon pairs enable robust, decoherence-resistant transmission through optical fibers for long-distance quantum communication, where phase noise poses a critical limitation to stable operation. Here, we implement an…
High-stability quartz oscillators are needed in a number of space applications. A short-term stability of parts in 10^{-14} [Allan deviation \sigma y(\tau) ] is sometimes required, for integration time \tau of approximately 1-10 s. The…
A widely embraced approach to mitigate the dynamic degradation in low-inertia power systems is to mimic generation response using grid-connected inverters to restore the grid's stiffness. In this paper, we seek to challenge this approach…
We present a heterodyne stabilized cavity-based interferometer scheme that can serve as a compact and high-sensitivity displacement sensor with a fringe-scale operating range. The technique, in principle, can reach a sub-femtometer noise…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
This paper presents a novel Dynam-i-c Droop (iDroop) control mechanism to perform primary frequency control with gird-connected inverters that improves the network dynamic performance. The work is motivated by the dynamic degradation…
In this paper, we consider tensegrity hopper - a novel tensegrity-based robot, capable of moving by hopping. The paper focuses on the design of the stabilizing control policies, which are obtained with Augmented Random Search method. In…
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving…