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This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…
Biaxial motion control systems are used extensively in manufacturing and printing industries. To improve throughput and reduce machine cost, lightweight materials are being proposed in structural components but may result in higher…
This study focuses on implementing a real-time control system for a particle accelerator facility that performs high energy physics experiments. A critical operating parameter in this facility is beam loss, which is the fraction of…
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…
Active reconfigurable intelligent surfaces (RISs) can improve the performance of integrated sensing and communication (ISAC), and therefore enable simultaneous data transmission and target sensing. However, when the line-of-sight (LoS) link…
We present temporally abstract actor-critic (TAAC), a simple but effective off-policy RL algorithm that incorporates closed-loop temporal abstraction into the actor-critic framework. TAAC adds a second-stage binary policy to choose between…
As terminal agents scale to long-horizon, multi-turn workflows, a key bottleneck is not merely limited context length, but the accumulation of noisy terminal observations in the interaction history. Retaining raw observations preserves…
Cryo Focused Ion-Beam Scanning Electron Microscopy (cryo FIB-SEM) enables three-dimensional and nanoscale imaging of biological specimens via a slice and view mechanism. The FIB-SEM experiments are, however, limited by a slow (typically,…
Using communications signals for dynamic target sensing is an important component of integrated sensing and communications (ISAC). In this paper, we propose to utilize the beam squint effect to realize fast non-cooperative dynamic target…
A novel balanced air-biased coherent detection scheme for capturing ultrabroadband terahertz (THz) waveforms is implemented. The balanced detection scheme allows for coherent detection at the full repetition rate of the laser system without…
Event cameras are increasingly popular in robotics due to beneficial features such as low latency, energy efficiency, and high dynamic range. Nevertheless, their downstream task performance is greatly influenced by the optimization of bias…
We present a new asynchronous quasi-delay-insensitive (QDI) block carry lookahead adder with redundancy carry (BCLARC) realized using delay-insensitive dual-rail data encoding and 4-phase return-to-zero (RTZ) and 4-phase return-to-one (RTO)…
Soft Actor-Critic (SAC) is considered the state-of-the-art algorithm in continuous action space settings. It uses the maximum entropy framework for efficiency and stability, and applies a heuristic temperature Lagrange term to tune the…
We report results of the beam commissioning and first operation of the 1.3 GHz superconducting RF electron linear accelerator at Fermilab Accelerator Science and Technology (FAST) facility. Construction of the linac was completed and the…
Fluid-driven elastomeric actuators (FEAs) are among the most popular actuators in the emerging field of soft robotics. Intrinsically compliant, with continuum of motion, large strokes, little friction, and high power-to-weight ratio, they…
While Cram\'er-Rao lower bound is an important metric in sensing functions in integrated sensing and communications (ISAC) designs, its optimization usually involves a computationally expensive solution such as semidefinite relaxation. In…
Next generation wireless networks will exploit the large amount of spectrum available at millimeter wave (mmWave) frequencies. Design of mmWave systems, however, is challenging due to strict power, cost and hardware constraints at higher…
Connectionist Temporal Classification (CTC) model is a very efficient method for modeling sequences, especially for speech data. In order to use CTC model as an Automatic Speech Recognition (ASR) task, the beam search decoding with an…
Control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques…
By using variational Monte Carlo and auxiliary-field quantum Monte Carlo methods, we perform an accurate finite-size scaling of the $s$-wave superconducting order parameter and the pairing correlations for the negative-$U$ Hubbard model at…