Related papers: Robust and fast backbone tracking via phase-locked…

We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…

The confluence of unitary dynamics and non-unitary measurements gives rise to intriguing and relevant phenomena, generally referred to as measurement-induced phase transitions. These transitions have been observed in quantum systems…

This study introduces a modified version of the Constant-in-Gain, Lead-in-Phase (CgLp) filter, which incorporates a feedthrough term in the First-Order Reset Element (FORE) to reduce the undesirable nonlinearities and achieve an almost…

We present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output data with closed-loop stability guarantees. Our scheme relies on the data-driven system…

Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…

We review the conventional phase-locking technique in the long-term stabilization of the mode-locked fiber laser and investigate the phase noise limitation of the conventional technique. To break the limitation, we propose an improved…

Accurate bone tracking is crucial for kinematic analysis in orthopedic surgery and prosthetic robotics. Traditional methods (e.g., skin markers) are subject to soft tissue artifacts, and the bone pins used in surgery introduce the risk of…

Research in efficient vision backbones is evolving into models that are a mixture of convolutions and transformer blocks. A smart combination of both, architecture-wise and component-wise is mandatory to excel in the speedaccuracy…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

Nonlinear spectroscopy employs a series of laser pulses to interrogate dynamics in large interacting many-body systems, and has become a highly successful method for experiments in chemical physics. Current quantum optical experiments…

Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

The efficient tagging of individual muons, along with the stability of the involved ultrathin carbon foil, is critical for ensuring fast, reliable and reproducible low-energy muon spin rotation (LE-$\mathrm{\mu}$SR) measurements. At the…

This paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…

Recently, end-to-end deep networks based stereo matching methods, mainly because of their performance, have gained popularity. However, this improvement in performance comes at the cost of increased computational and memory bandwidth…

In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. Necessary and sufficient…

Vibration-based condition monitoring techniques are commonly used to detect and diagnose failures of rolling bearings. Accuracy and delay in detecting and diagnosing different types of failures are the main performance measures in condition…

Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…