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Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern…
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…
To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…
We experimentally demonstrate thermo-optic locking of a semiconductor laser to an integrated toroidal optical microresonator. The lock is maintained for time periods exceeding twelve hours, without requiring any electronic control systems.…
Data-driven control has gained significant attention in recent years, particularly regarding feedback linearization of nonlinear systems. However, existing approaches face limitations when it comes to implementing them on hardware. The main…
We introduce a novel approach to control physical lighting parameters by means of a pressure-sensitive touchpad. The two-dimensional area of the touchpad is subdivided into 5 virtual sliders, each controlling the intensity of a color (red,…
Ultrasound imaging is developing an open-source ecosystem, especially for software frameworks. Little exists on the open-hardware side. Hence a focus was put on producing easy-to-use technological (hardware and software) kit to allow anyone…
Prototype optical microscopes, built to pursue developments in advanced imaging techniques, need specific optomechanical constructions: preferably with high flexibility in the elements arrangement, easy access to the optical paths,…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
Digital control of optics experiments has many advantages over analog control systems, specifically in terms of scalability, cost, flexibility, and the integration of system information into one location. We present a digital control…
Control over optical spatial coherence is a key requirement in diverse applications including imaging, optical trapping, and communications. Current approaches to controlling spatial coherence are constrained by speed or limited to a single…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…
Recent advancements in parallel simulation and successful robotic applications are spurring a resurgence in sampling-based model predictive control. To build on this progress, however, the robotics community needs common tooling for…
Precise and flexible control of structured light fields is essential for applications ranging from optical trapping and quantum simulation to microscopy and materials processing. Acousto-optical deflectors (AODs) are widely used in these…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
The main purpose of this work is in reducing the queuing delays in major supermarkets or other shopping centers by means of an Electronic Smart Cart System which will introduce an intellectual approach to billing process through RFID…
Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a twodesign-degree…