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A fully dynamic three-layer active constrained layer (ACL) beam is modeled for cantilevered boundary conditions by using a thorough variational approach. The Rao-Nakra thin compliant layer assumptions are adopted to model the sandwich…
The collimation system is an essential part of the design of any high-power accelerator. Its functions include protection of components from accidental and intentional energy deposition, reduction of backgrounds, and beam diagnostics.…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
Recently, vision architectures based exclusively on multi-layer perceptrons (MLPs) have gained much attention in the computer vision community. MLP-like models achieve competitive performance on a single 2D image classification with less…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
A vectorial optical mode converter that can transform an orthogonal set of multiple input vector beams into another orthogonal set of vector beams is attractive for a wide range of applications in optics and photonics. While multi-plane…
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The…
Multi-plane light converters (MPLCs) are an emerging 3D beam shaping technology capable of deterministically mapping a basis of input spatial light modes to a new basis of output modes. The ability to perform such spatial reformatting…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
Electrical power conversions are common in a large variety of engineering applications. With reference to AC/DC and DC/AC power conversions, a strong research interest resides in multilevel converters, thanks to the many advantages they…
A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…
Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…
Light with complex structures in polarization, phase and amplitude, has attracted a lot of attention in a broad range of applications and fundamental studies in classical and quantum optics. Along with the increased interest in structured…
This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…
A modulated model predictive controller is designed for an inductor-less modular multilevel converter targeting an MVDC solid-state transformer application. The underlying optimization problem is formulated such that a unique closed-form…
A lattice of single aperture superconducting variable field bending magnets is proposed as a cheap and practical way to recirculate the beams in recirculating linear accelerators. It is shown that the VFBM's can be configured to provide…
Unmanned micro aerial vehicle research is an active area of development due to the vast potential applications. Prior work towards realizing flapping flight has achieved some success however they have relied heavily upon the use of rotary…
Multi-rotor UAVs suffer from a restricted range and flight duration due to limited battery capacity. Autonomous landing on a 2D moving platform offers the possibility to replenish batteries and offload data, thus increasing the utility of…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…