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Using comprehensive exact diagonalization calculations on $\theta \approx 3.7 ^{\circ}$ twisted bilayer MoTe$_2$ ($t$MoTe$_2$), as well as idealized Landau level models also relevant for lower $\theta$, we extract general principles for…
Free positioning of receivers is one of the key requirements for many wireless power transfer (WPT) applications, required from the end-user point of view. However, realization of stable and effective wireless power transfer for freely…
Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe…
In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a…
Cyber-physical systems, also known as CPS, is an emerging field of technology that combines the physical and digital worlds by allowing for seamless interaction and communication between the two. One of the key characteristics of a CPS is…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
Unexpected yaw disturbances like braking on unilaterally icy road, side wind forces and tire rupture are very difficult to handle by the driver of a road vehicle, due to his/her large panic reaction period ranging between 0.5 to 2 seconds.…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…
This paper presents a cross-layer protocol (IRIS) designed for long-range pipeline Wireless Sensor Networks with extremely low power budget, typically seen in a range of monitoring applications. IRIS uses ping packets initiated by a base…
This work presents a passive sensing system for traffic monitoring using ambient Long Term Evolution (LTE) signals as a non-intrusive and scalable alternative to traditional surveillance methods. The approach employs a dual-receiver…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
Although part-based motion synthesis networks have been investigated to reduce the complexity of modeling heterogeneous human motions, their computational cost remains prohibitive in interactive applications. To this end, we propose a novel…
Bus-clamping Pulse Width Modulation (PWM) is an effective method to reduce the switching loss in a three-phase voltage source inverter (VSI). In bus-clamping PWM scheme, the phase legs are switched using high frequency PWM signals for…