Related papers: A rotor-based multileaf collimator for beam shapin…
We report the development of a multileaf collimator (MLC) for charged particle beams, based on independently actuated tungsten strips which can selectively scatter unwanted particles. The MLC is used in conjunction with an emittance…
Emittance exchange beamlines employ transverse masks to create drive and witness beams of variable longitudinal profile and bunch spacing. Recently, this approach has been used to create advanced driver profiles and demonstrate…
In this paper, we address the problem of manipulating multi-particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particles through a series of shaping and pushing actions using…
A novel framework for closed-loop control of turbulent flows is tested in an experimental mixing layer flow. This framework, called Machine Learning Control (MLC), provides a model-free method of searching for the best function, to be used…
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
Within the setting of intensity modulated radiation therapy (IMRT) and the fully continuous version of IMRT called volumetric modulated radiation therapy (VMAT), we consider the problem of matching a given fluence map as well as possible in…
Multilayer metasurfaces (MLMs) represent a versatile type of three-dimensional optical metamaterials that could enable ultra-thin and multi-functional photonic components. Herein we demonstrate an approach to readily fabricate MLMs…
Adaptation to unpredictable damages is crucial for autonomous legged robots, yet existing methods based on multi-policy or meta-learning frameworks face challenges like limited generalization and complex maintenance. To address this issue,…
A strongly focused laser beam can be used to trap, manipulate and exert torque on a microparticle. The torque is the result of transfer of angular momentum by scattering of the laser beam. The laser could be used to drive a rotor, impeller,…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
Collimation systems are essential in particle accelerators to safely and efficiently manage unavoidable beam losses during operation. These systems rely on collimators, which are specially designed movable jaws or absorbers positioned close…
This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of…
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…
Robust fine tuning of multi-leaf collimator (MLC) Treatment Planning System (TPS) modeling parameters is crucial for creating an optimal beam model, particularly with the ever-increasing accuracy required for advancing techniques.…
We propose a general model-free strategy for feedback control design of turbulent flows. This strategy called 'machine learning control' (MLC) is capable of exploiting nonlinear mechanisms in a systematic unsupervised manner. It relies on…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
The paper describes an electronic multiprocessor system that assures functionality of a miniature UAV capable of 3D flying. The apparatus consists of six independently controlled brushless DC motors, each having a propeller attached to it.…
In contemporary radiotherapy planning (RTP), a key module leaf sequencing is predominantly addressed by optimization-based approaches. In this paper, we propose a novel deep reinforcement learning (DRL) model termed as Reinforced Leaf…