Related papers: Trend-Based SAC Beam Control Method with Zero-Shot…
Recent advances in deep reinforcement learning have achieved impressive results in a wide range of complex tasks, but poor sample efficiency remains a major obstacle to real-world deployment. Soft actor-critic (SAC) mitigates this problem…
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to…
This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and…
This paper investigates robust beamforming for system-centric energy efficiency (EE) optimization in the vehicular integrated sensing and communication (ISAC) system, where the mobility of vehicles poses significant challenges to channel…
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…
Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…
In this paper, we present a method capable of ensuring practical prescribed-time control with guaranteed performance for a class of nonlinear systems in the presence of time-varying parametric and dynamic uncertainties, and uncertain…
Efficient spatiotemporal control of optical beams is of paramount importance in diverse technological domains. Conventional systems focusing on quasi-static beam control demand precise phase or wavelength tuning for steering. This work…
Sixth generation (6G) wireless technology is anticipated to introduce Integrated Sensing and Communication (ISAC) as a transformative paradigm. ISAC unifies wireless communication and RADAR or other forms of sensing to optimize spectral and…
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Sensing-assisted predictive beamforming, as one of the enabling technologies for emerging integrated sensing and communication (ISAC) paradigm, shows significant promise for enhancing various future unmanned aerial vehicle (UAV)…
Wireless and wearable ultrasound devices promise to enable continuous ultrasound monitoring, but power consumption and data throughput remain critical challenges. Reducing the number of transmit events per second directly impacts both. We…
Traffic congestion in urban areas is a significant problem, leading to prolonged travel times, reduced efficiency, and increased environmental concerns. Effective traffic signal control (TSC) is a key strategy for reducing congestion.…
Autonomous racing is becoming popular for academic and industry researchers as a test for general autonomous driving by pushing perception, planning, and control algorithms to their limits. While traditional control methods such as MPC are…
This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…
Actor-critic methods, like Twin Delayed Deep Deterministic Policy Gradient (TD3), depend on basic noise-based exploration, which can result in less than optimal policy convergence. In this study, we introduce Monte Carlo Beam Search (MCBS),…
Techniques to mold the flow of light on subwavelength scales enable fundamentally new optical systems and device applications. The realization of programmable, active optical systems with fast, tunable components is among the outstanding…
We report on the first detailed beam test attesting the fundamental principle behind the development of high-current-efficiency ultrafast electron microscope systems where a radio-frequency cavity is incorporated as a condenser lens in the…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…