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Synthesizing controllable motion for a character using deep learning has been a promising approach due to its potential to learn a compact model without laborious feature engineering. To produce dynamic motion from weak control signals such…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
This work deals with the design of a sliding mode observer with a multi-surfaces sliding mode multimodel control (SM-MMC) for a mechanical sensorless pumping system. The observer is designed to estimate the speed and the mechanical position…
Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we…
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…
Cyclops, introduced in this paper, is an open research platform for everyone that wants to validate novel ideas and approaches in the area of self-driving heavy-duty vehicle platooning. The platform consists of multiple 1/14 scale…
The use of electrical motors and other remote systems are important tools in radiation environments. Certain harsh radiation environments, such as particle accelerators, require the use of remote systems during operation. Stepper motors are…
This abstract provides an overview of research in precision engineering, with a focus on compliant mechanisms for XY stage positioning. The study explores existing methods, such as piezoelectric actuators and compliant mechanisms, as well…
Three dimensional laser beam steering has been demonstrated using a single optical device -a DMD micro-mirror array. Laser beam focus position is controlled using dynamically adjustable zone plates. These zone plates take the form of…
Within the context of High Speed Machining, it is essential to manage the trajectory generation to achieve both high surface quality and high productivity. As feed drives are one part of the set Machine tool - Numerical Controller, it is…
Real time computer control is an essential feature of scanning probe microscopes, which have become essential tools for the characterization and investigation of nanometer scale samples. Most commercial (and some open-source) scanning probe…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
We describe the construction of a motorized optical rotation mount with a 40 mm clear aperture. The device is used to remotely control the power of large diameter laser beams for a magneto-optical trap (MOT). A piezo-electric ultrasonic…
We propose a procedure to demodulate analog signals encoded by a multicarrier modulator, with slowly-varying carrier shapes. We prove that the asymptotic demodulation error can be made arbitrarily small. The intended application is the…
Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the design of such systems is highly desired. Some of the features…
Autonomous driving has been quite promising in recent years. The public has seen Robotaxi delivered by Waymo, Baidu, Cruise, and so on. While autonomous driving vehicles certainly have a bright future, we have to admit that it is still a…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…