Related papers: Robust and fast backbone tracking via phase-locked…
We report a single-photon Mach-Zehnder interferometer stabilized to a phase precision of 0.05 degrees over 15 hours. To lock the phase, we employ an auxiliary reference light at a different wavelength than the quantum signal. The developed…
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…
Reference tracking is a key objective in many control systems, including those characterized by complex nonlinear dynamics. In these settings, traditional control approaches can effectively ensure steady-state accuracy but often struggle to…
We here present work a generalized low-level technical framework aimed to provide musical biofeedback in post-stroke balance and gait rehabilitation, built by an iterative user-centered process. The framework comprises wireless wearable…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Due to the need for higher reliability and performance from RF circuits, multi-port reflectometers are increasingly used as low-overhead impedance monitors. In this work, using periodic structures as multi-ports is proposed. Periodic…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Recently, correlation filter-based trackers have received extensive attention due to their simplicity and superior speed. However, such trackers perform poorly when the target undergoes occlusion, viewpoint change or other challenging…
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…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
This paper presents an adaptive tracking model predictive control (MPC) scheme to control unknown nonlinear systems based on an adaptively estimated linear model. The model is determined based on linear system identification using a moving…
Precision motion stages play a critical role in various manufacturing and inspection equipment, for example, the wafer/reticle scanning in photolithography scanners and positioning stages in wafer inspection systems. To meet the growing…
Recent advances in embedding-based retrieval have enabled dense retrievers to serve as core infrastructure in many industrial systems, where a single retrieval backbone is often shared across multiple downstream applications. In such…
Micro/Nano-positioning stages are of great importance in a wide range of manufacturing machines and instruments. In recent years, the drastically growing demand for higher throughput and reduced power consumption in various IC manufacturing…
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
Reliable detection and tracking in active sonar require accurate and efficient learning of the acoustic multipath background environment. Conventionally, background learning is performed after transforming measurements into the…
While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
Closed-loop performance of sequential decision making algorithms, such as model predictive control, depends strongly on the choice of controller parameters. Bayesian optimization allows learning of parameters from closed-loop experiments,…