Related papers: A proposal of a concept for a balanced internal co…
In this paper, we describe an algorithm, based on the well-known Unscented Quaternion Estimator, to estimate external forces and torques acting on a quadrotor. This formulation uses a non-linear model for the quadrotor dynamics, naturally…
The FCC-ee impedance model is being constantly updated closely following the vacuum chamber design and parameters evolution. In particular, at present, a thicker NEG coating of 150 nm (instead of previous 100 nm) has been suggested by the…
Generating trajectories that ensure both vehicle safety and improve traffic efficiency remains a challenging task at intersections. Many existing works utilize Nash equilibrium (NE) for the trajectory planning at intersections. However,…
Introduction of renewable generation leads to significant reduction of inertia in power system, which deteriorates the quality of frequency control. This paper suggests a new control scheme utilizing controllable load to deal with low…
Output regulation is the problem of finding a control input to asymptotically track reference trajectories and reject disturbances. This can be addressed by using the internal model principle to embed a model of the disturbance in the…
Information can improve heat engine performance, but the underlying principles are still not so clear. Here we introduce a Carnot information machine (CIE) and obtain a quantitative relationship between the engine performance and…
External and internal convertible (EIC) form-based motion control is one of the effective designs of simultaneously trajectory tracking and balance for underactuated balance robots. Under certain conditions, the EIC-based control design…
This paper makes the case for a single-ISA heterogeneous computing platform, AISC, where each compute engine (be it a core or an accelerator) supports a different subset of the very same ISA. An ISA subset may not be functionally complete,…
Integrated sensing and communications (ISAC) is envisioned as a key technology for future wireless communications. In this paper, we consider a downlink monostatic ISAC system wherein the base station serves multiple communications users…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to take advantage of these benefits in model predictive control…
A fundamental and intrinsic property of any device or natural system is its relaxation time relax, which is the time it takes to return to equilibrium after the sudden change of a control parameter [1]. Reducing $tau$ relax , is frequently…
The cavitation behaviour of a four-blade rocket engine turbopump inducer is simulated. A 2D numerical model of unsteady cavitation was applied to a blade cascade drawn fromthe inducer geometry. The physical model is based on a homogeneous…
Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint…
Low-temperature-differential (LTD) Stirling heat engines are able to operate with a small temperature difference between low-temperature heat reservoirs that exist in our daily lives, and thus they are considered to be an important…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…
Because of its nonequilibrium character, active matter in a steady state can drive engines that autonomously deliver work against a constant mechanical force or torque. As a generic model for such an engine, we consider systems that contain…
Collisional Brownian engines have been proposed as alternatives for nonequilibrium nanoscale engines. However, most studies have focused on the simpler overdamped case, leaving the role of inertia much less explored. In this work, we…
Linear elastic fracture mechanics admit analytic solutions that have low regularity at crack tips. Current numerical methods for partial differential equations (PDEs) of this type suffer from the constraint of such low regularity, and fail…