Related papers: Doberman: a modular and distributed slow control s…
We present an open source slow control system for small and medium scale projects. Thanks to its modular and flexible design, where the various instruments are read and controlled by independent plugins, Doberman (Detector OBsERving and…
The operation of instruments and detectors in laboratory or beamline environments presents a complex challenge, requiring stable operation of multiple concurrent devices, often controlled by separate hardware and software solutions. These…
Quantum technology is approaching a level of maturity, recently demonstrated in space-borne experiments and in-field measurements, which would allow for adoption by non-specialist users. Parallel advancements made in microprocessor-based…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the…
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller…
Despite recent advances in video-based action recognition and robust spatio-temporal modeling, most of the proposed approaches rely on the abundance of computational resources to afford running huge and computation-intensive convolutional…
Recent advances in diffusion-based robot policies have demonstrated significant potential in imitating multi-modal behaviors. However, these approaches typically require large quantities of demonstration data paired with corresponding robot…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…
The Detector Control System (DCS) of the COMPASS experiment at CERN is presented. The experiment has a high level of complexity and flexibility and a long time of operation, that constitute a challenge for its full monitorisation and…
Diffractive optical neural networks (DONNs) have attracted lots of attention as they bring significant advantages in terms of power efficiency, parallelism, and computational speed compared with conventional deep neural networks (DNNs),…
Scientific collaborations require a strong computing infrastructure to successfully process and analyze data. While large-scale collaborations have access to resources such as Analysis Facilities, small-scale collaborations often lack the…
Particle physics experiments rely extensively on computing and data services, making e-infrastructure an integral part of the research collaboration. Constructing and operating distributed computing can however be challenging for a…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
Grasping and releasing objects would cause oscillations to delivery drones in the warehouse. To reduce such undesired oscillations, this paper treats the to-be-delivered object as an unknown external disturbance and presents an image-based…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…