Related papers: Control-Oriented Modeling and Layer-to-Layer Spati…
Additive manufacturing technologies enable the production of complex and bioinspired shapes using magneto-responsive materials, which find diverse applications in soft robotics. Particularly, the development of composites with controlled…
Additive manufacturing is a free-form manufacturing technique in which parts are built in a layer-by-layer manner. Laser powder bed fusion is one of the popular techniques used to fabricate metal parts. However, it induces residual stress…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
Traditional Federated Learning (FL) methods encounter significant challenges when dealing with heterogeneous data and providing personalized solutions for non-IID scenarios. Personalized Federated Learning (PFL) approaches aim to address…
We theoretically study and experimentally demonstrate controlled generation of spatial modes of light via stimulated parametric downconversion (StimPDC) by transferring the spatial structure of a pump beam to the stimulated idler beam. We…
To tackle the global climate challenge, it urgently needs to develop a collaborative platform for comprehensive weather forecasting on large-scale meteorological data. Despite urgency, heterogeneous meteorological sensors across countries…
Air pollution, especially particulate matter 2.5 (PM2.5), is a pressing concern for public health and is difficult to estimate in developing countries (data-poor regions) due to a lack of ground sensors. Transfer learning models can be…
Model-free techniques, such as machine learning (ML), have recently attracted much interest towards the physical layer design, e.g., symbol detection, channel estimation, and beamforming. Most of these ML techniques employ centralized…
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…
Federated Learning (FL) involves training a model over a dataset distributed among clients, with the constraint that each client's dataset is localized and possibly heterogeneous. In FL, small and noisy datasets are common, highlighting the…
Existing curved-layer-based process planning methods for multi-axis manufacturing address collisions only indirectly and generate toolpaths in a post-processing step, leaving toolpath geometry uncontrolled during optimization. We present an…
Beamforming (BF) is essential for enhancing system capacity in fifth generation (5G) and beyond wireless networks, yet exhaustive beam training in ultra-massive multiple-input multiple-output (MIMO) systems incurs substantial overhead. To…
Recently, diffusion models have achieved great success in image synthesis. However, when it comes to the layout-to-image generation where an image often has a complex scene of multiple objects, how to make strong control over both the…
Cloud computing creates new possibilities for control applications by offering powerful computation and storage capabilities. In this paper, we propose a novel cloud-assisted model predictive control (MPC) framework in which we…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
Additive Manufacturing (AM) is a manufacturing paradigm that builds three-dimensional objects from a computer-aided design model by successively adding material layer by layer. AM has become very popular in the past decade due to its…
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic…
A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…
This study proposes a general, scalable method to learn control-oriented thermal models of buildings that could enable wide-scale deployment of cost-effective predictive controls. An Unscented Kalman Filter augmented for parameter and…
Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process…