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This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intractability of classical centralised MPC for a growing number of…
A compact low-level RF (LLRF) control system based on RF system-on-chip (RFSoC) technology has been designed for the Advanced Concept Compact Electron Linear-accelerator (ACCEL) program, which has challenging requirements in both RF…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop…
Hybrid beamforming (HBF) design is a crucial stage in millimeter wave (mmWave) multi-user multi-input multi-output (MU-MIMO) systems. However, conventional HBF methods are still with high complexity and strongly rely on the quality of…
The attention mechanism is a pivotal element within the transformer architecture, making a substantial contribution to its exceptional performance. Within this attention mechanism, Softmax is an imperative component that enables the model…
In modern low-power embedded platforms, floating-point (FP) operations emerge as a major contributor to the energy consumption of compute-intensive applications with large dynamic range. Experimental evidence shows that 50% of the energy…
In Fixed Wireless Applications (FWA), the Code Division Multiple Access (CDMA) is the most promising candidate for wideband data access. The reason is the soft limit on the number of active mobile devices. Many Fixed Wireless Applications…
This paper proposes a model-driven deep learning (MDDL)-based channel estimation and feedback scheme for wideband millimeter-wave (mmWave) massive hybrid multiple-input multiple-output (MIMO) systems, where the angle-delay domain channels'…
In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop…
Solid-fuel ramjets offer a compact, energy-dense propulsion option for long-range, high-speed flight but pose significant challenges for thrust regulation due to strong nonlinearities, limited actuation authority, and complex multi-physics…
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…
This paper introduces a Data-Fused Model Predictive Control (DFMPC) framework that combines physics-based models with data-driven representations of unknown dynamics. Leveraging Willems' Fundamental Lemma and an artificial equilibrium…
Input current estimation is indispensable in the sensorless control algorithms for the problem of power factor compensation (PFC) of an AC-DC boost converter. The system estimator design is challenged by the bilinear form dynamics and…
This letter considers the transceiver design in frequency division duplex (FDD) massive multiple-input multiple-output (MIMO) orthogonal frequency division multiplexing (OFDM) systems for high-quality data transmission. We propose a novel…
Implicit methods are attractive for hybrid quantum-classical CFD solvers as the flow equations are combined into a single coupled matrix that is solved on the quantum device, leaving only the CFD discretisation and matrix assembly on the…
The hybrid power system state estimation problem requires computing the state of the power network using data from both legacy and phasor measurements. Recent research has shown that the normal equations approach in complex variables is…
Low-resolution analog-to-digital converters (ADCs) and hybrid beamforming have emerged as efficient solutions to reduce power consumption with satisfactory spectral efficiency (SE) in massive multiple-input multiple-output (MIMO) systems.…
A new, very fast, implementation of the exact (Fock) exchange operator for electronic structure calculations within the plane-wave pseudopotential method is described in detail for both molecular and periodic systems, and carefully…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…