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Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Ultrasonic phased array technology, while versatile, often requires complex computing resources and numerous amplifier components. We present a Manually Reconfigurable Phased Array that physically controls transducer position and phase,…
Analog/mixed-signal circuit design is one of the most complex and time-consuming stages in the whole chip design process. Due to various process, voltage, and temperature (PVT) variations from chip manufacturing, analog circuits inevitably…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
Recent studies have developed tunable topological elastic metamaterials to maximize performance in the presence of varying external conditions, adapt to changing operating requirements, and enable new functionalities such as a programmable…
Flexible electronics offer unique advantages for conformable, lightweight, and disposable healthcare wearables. However, their limited gate count, large feature sizes, and high static power consumption make on-body machine learning…
Metasurfaces, with their ability to control electromagnetic waves, hold immense potential in optical device design, especially for applications requiring precise control over dispersion. This work introduces an approach to dispersion…
Linearity is an important and frequently sought property in electronics and instrumentation. Here, we report a method capable of, given a transfer function, identifying the respective most linear region of operation with a fixed width. This…
The quest for wave channeling and manipulation has driven a strong research effort on topological and architected materials, capable of propagating localized electromagnetical or mechanical signals. With reference to an elastic structural…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
Parameter-efficient fine-tuning aims to achieve performance comparable to fine-tuning, using fewer trainable parameters. Several strategies (e.g., Adapters, prefix tuning, BitFit, and LoRA) have been proposed. However, their designs are…
In the pursuit of sustainable manufacturing, ultra-short pulse laser micromachining stands out as a promising solution while also offering high-precision and qualitative laser processing. However, unlocking the full potential of ultra-short…
Trial-varying disturbances are a key concern in Iterative Learning Control (ILC) and may lead to inefficient and expensive implementations and severe performance deterioration. The aim of this paper is to develop a general framework for…
Precise measurements of the frequency and phase of an electrical or optical signal play a key role in various branches of science and engineering. Tracking changing laser frequencies is especially demanding when the lasers themselves are…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
Several high-performance lab instruments suitable for manual assembly have been developed using low-pin-count 32-bit microcontrollers that communicate with an Android tablet via a USB interface. A single Android tablet app accommodates…
With advancing process technologies and booming IoT markets, millimeter-wave CMOS RFICs have been widely developed in re- cent years. Since the performance of CMOS RFICs is very sensi- tive to the precision of the layout, precise placement…