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Movable antenna (MA) is a promising technology for improving the performance of wireless communication systems by providing new degrees-of-freedom (DoFs) in antenna position optimization. However, existing works on MA systems have mostly…
Movable antenna (MA) is an emerging technology which enables a local movement of the antenna in the transmitter/receiver region for improving the channel condition and communication performance. In this paper, we study the deployment of…
Electromechanical models are crucial in the design and control of motors and actuators. Modeling, identification, drive, and current control loop of a limited-rotation actuator with magnetic restoration is presented. New nonlinear and…
Movable antenna (MA) has been recognized as a promising technology for performance enhancement in wireless communication and sensing systems by exploiting the spatial degrees of freedom (DoFs) in flexible antenna movement. However, the…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
The movable antenna (MA) technology has attracted great attention recently due to its promising capability in improving wireless channel conditions by flexibly adjusting antenna positions. To reap maximal performance gains of MA systems,…
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint…
Movable antennas (MAs), traditionally explored in antenna design, have recently garnered significant attention in wireless communications due to their ability to dynamically adjust the antenna positions to changes in the propagation…
In this correspondence, we propose a movable antenna (MA)-aided multi-user hybrid beamforming scheme with a sub-connected structure, where multiple movable sub-arrays can independently change their positions within different local regions.…
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct: Computational Optimization and…
We will analyze the itinerant model for ferromagnetism with both single-site and two-site electron correlations. We will include band degeneration into the model. This will allow us to consider the on-site exchange interactions in the…
Movable antennas (MAs) enhance flexibility in beamforming gain and interference suppression by adjusting position within certain areas of the transceivers. In this paper, we propose an MA-assisted integrated sensing and communication…
Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and…
Since decades ago, multi-antenna has become a key enabling technology in the evolution of wireless communication systems. In contrast to conventional multi-antenna systems that contain antennas at fixed positions, position-flexible antenna…
Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators known a priori to be susceptible to failure within the…