Related papers: Basis Function feedforward for Position-Dependent …
Wearable foundation models (WFMs), trained on large volumes of data collected by affordable, always-on devices, have demonstrated strong performance on short-term, well-defined health monitoring tasks, including activity recognition,…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
Recent developments have created the ability to quantify information flow among components that interact in a dynamical system, and have led to significant advances in characterizing the dependence between the variables involved. In…
Modern software systems provide many configuration options which significantly influence their non-functional properties. To understand and predict the effect of configuration options, several sampling and learning strategies have been…
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
This paper investigates voltage stability in inverter-based power systems concerning fold and saddle-node bifurcations. An analytical expression is derived for the sensitivity of the stability margin using the normal vector to the…
Recent advances in machine learning have dramatically improved our ability to model language, vision, and other high-dimensional data, yet they continue to struggle with one of the most fundamental aspects of biological systems: movement.…
A novel set-theoretical approach to hands-off control is proposed, focusing on spatial arguments for command limitation rather than temporal ones. By employing dynamical feedback alongside invariant set-based constraints, actuation is…
Over the last decade we have witnessed an increasing use of data processing in embedded systems. Where in the past the data processing was limited (if present at all) to the handling of a small number of "on-off control signals", more…
Pursuit-evasion games are ubiquitous in nature and in an artificial world. In nature, pursuer(s) and evader(s) are intelligent agents that can learn from experience, and dynamics (i.e., Newtonian or Lagrangian) is vital for the pursuer and…
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…
Upcoming vehicles introduce functions at the level of conditional automation where a driver no longer must supervise the system but must be able to take over the driving function when the system request it. This leads to the situation that…
Oftentimes, environments for sequential decision-making problems can be quite sparse in the provision of evaluative feedback to guide reinforcement-learning agents. In the extreme case, long trajectories of behavior are merely punctuated…
In using transverse-momentum-dependent (TMD) parton densities and fragmentation functions, important non-perturbative information is at large transverse position $b_T$. This concerns both the TMD functions and their evolution. Fits to high…
We develop a method of transverse momentum dependent (TMD) operator expansion that yields the TMD factorization theorem on the operator level. The TMD operators are systematically ordered with respect to TMD-twist, which allows a certain…
With economic development, the complexity of infrastructure has increased drastically. Similarly, with the shift from fossil fuels to renewable sources of energy, there is a dire need for such systems that not only predict and forecast with…
We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a…
The sedentary lifestyle increases individuals' risks of developing chronic diseases. To support individuals to be more physically active, we propose a mobile system, MotionShift, that presents users with step count data alongside contextual…
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…
An elementary system leading to the notions of fractional integrals and derivatives is considered. Various physical situations whose description is associated with fractional differential equations of motion are discussed.