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Wall-clock convergence time and communication rounds are critical performance metrics in distributed learning with parameter-server setting. While synchronous methods converge fast but are not robust to stragglers; and asynchronous ones can…
In this paper, we report the enhanced stability of induced synchronization by transient uncoupling observed in certain unidirectionally coupled second-order chaotic systems. The stability of synchronization observed in the coupled systems…
Time lags occur in a vast range of real-world dynamical systems due to finite reaction times or propagation speeds. Here we derive an analytical approach to determine the asymptotic stability of synchronous states in networks of coupled…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
We analyze the stability of synchronized state for coupled nearly identical dynamical systems on networks by deriving an approximate Master Stability Function (MSF). Using this MSF we treat the problem of designing a network having the best…
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
Synchronization processes in populations of identical networked oscillators are in the focus of intense studies in physical, biological, technological and social systems. Here we analyze the stability of the synchronization of a network of…
This paper presents a novel approach for stability and transparency analysis for bilateral teleoperation in the presence of data loss in communication media. A new model for data loss is proposed based on a set of periodic continuous pulses…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances. Two types of controllers are designed and implemented:…
Synchronization is an essential element in three-phase ac electric power systems. The large-scale integration of converter-interfaced resources leads to the power grid transformation from voltage-source-dominated to…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…
This paper investigates the performance of a lowcost Throttle-by-Wire-System (TbWS) for two-wheeler applications. Mopeds/scooters are still restricted environmentally harmful. Throttle-by-Wire-Systems can contribute to environmental…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
This paper addresses the challenge of achieving stable adaptive teleoperation and improving the convergence rate in the presence of high communication time delays. We employ a passivity-based formalism to establish stability using wave…
This work provides a design method for achieving a specified level of stability for inverter-based interconnected distributed generation. The stability of parallel connected distributed energy resources determined from a linearized…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
Increasing the inertia is widely considered to be the solution to resolving unstable interactions between coupled oscillators. In power grids, Virtual Synchronous Generators (VSGs) are proposed to compensate the reducing inertia as rotating…