Related papers: Active platform stabilisation with a 6D seismomete…
Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
The concepts of stability and balance represent many critical problems faced by engineering today. The inverted pendulum on a cart is one such non-linear, unstable, multivariate system whose goal is to determine a suitable control action…
In this paper, we present two datasets that we make publicly available for research. The data is collected in a testbed comprised of a custom-made Reconfigurable Intelligent Surface (RIS) prototype and two regular OFDM transceivers within…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
The spatial sensor characteristics of a 6cm TDR flat band cable sensor section was simulated with finite element modelling (High Frequency Structure Simulator-HFSS) under certain conditions: (i) in direct contact to the surrounding material…
A compact, continuous-wave, mmWave radar sensor is developed for non-contact detection of micron-scale motions. This board-integrated radar system consists of a pair of mmWave transmitter and receiver, two series-fed microstrip patch…
A control based power tower function at order 2 is proposed in this paper. This leads to a new sliding mode control, which allows employing backstepping technique that combines both guaranteed and finite time convergence. The proposed…
Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional…
Point source atom interferometry is a promising approach for implementing robust, high-sensitivity, rotation sensors using cold atoms. However, its scale factor, i.e., the ratio between the interferometer signal and the actual rotation…
Next-generation communication systems with wide bandwidths need to operate in interference-limited networks. A discrete-time delay (TD) technique in a baseband receiver array is proposed for canceling wide modulated bandwidth spatial…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
This study presents the analysis and design of a novel quasi-zero-stiffness (QZS) based vibration sensor system for measuring absolute displacement of vibrating platforms/objects. The sensor system is constructed by using positive and…
This letter demonstrates how synthetic inertia can be obtained with the control of flexible discrete devices to keep the power balance of power systems, even if the system does not include any synchronous generator or conventional…
We present a stepping stabilization control that addresses external push disturbances on bipedal walking robots. The stepping control is synthesized based on the step-to-step (S2S) dynamics of the robot that is controlled to have an…
In this paper, we develop an active sensing strategy for a millimeter wave (mmWave) band Integrated Sensing and Communication (ISAC) system adopting a realistic hybrid digital-analog (HDA) architecture. To maintain a desired SNR level,…
This paper presents an active noise control experiment designed to validate a real-time control strategy for reduction of the noise scattered from a three-dimensional body. The control algorithm relies on estimating the scattered noise by…