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Modern technologies are producing datasets with complex intrinsic structures, and they can be naturally represented as matrices instead of vectors. To preserve the latent data structures during processing, modern regression approaches…
Optical control of structure-driven magnetic order offers a platform for magneto-optical terahertz devices. We control the magnetic phases of $d^1$ Mott insulating titanates using nonlinear phononics to transiently perturb the atomic…
In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards…
Miniaturized, ultra-sensitive and easily integrable magnetometers are needed for many applications, like space exploration or health monitoring. Achieving this goal requires a magnetic sensor with high sensitivity and low noise. High…
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
Motion-sensorless control techniques of electrical drives are attracting more attention in different industries. The local observability of sensorless permanent magnet synchronous drives is studied in this paper. A special interest is given…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…
Contactless bearings based on both permanent magnets and superconducting magnetic levitation are interesting to avoid all the tribological problems associated with contact at very low temperature. Superconducting magnetic bearings (SMBs)…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…
A new strategy is proposed to control interior permanent magnet generators in dc microgrids interfaced through an active rectifier. The controller design is based on the decomposition of the system dynamics into slow and fast modes using…
Despite the numerous advances, reinforcement learning remains away from widespread acceptance for autonomous controller design as compared to classical methods due to lack of ability to effectively tackle the reality gap. The reliance on…
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.…
This paper concerns the experimental validation of some mathematical models previously developed by the authors, to predict the static behaviour of microelectrostatic actuators, basically free-clamped microbeams. This layout is currently…
Permanent magnet-assisted synchronous reluctance motors (PMSynRM) have a significantly higher average torque than synchronous reluctance motors. Thus, determining an optimal design results in a multi-material topology optimization problem,…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
Dielectric elastomer actuators have become one of the most important smart material transducers in recent times. One of the crucial aspects in this field is the application of bias to find the best operating conditions. The basic task is to…
A common optimization problem in the areas of magnetized plasmas and fusion energy is the design of magnets to produce a given three-dimensional magnetic field distribution to high precision. When designing arrays of permanent magnets for…