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Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to…
Existing motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this, we propose integrating motion planners with Doppler LiDARs, which provide not only…
The main purpose of a control allocator is to distribute a total control effort among redundant actuators. This paper proposes a discrete adaptive control allocator for over-actuated sampled-data systems in the presence of actuator…
We implemented a control system for ultracold atom experiments. The system includes hardware modules that generate synchronized experiment signals of different kinds, and a protocol to communicate with all the modules. We also implemented…
A major challenge in optical quantum processing is implementing large, stable interferometers. Here we propose a virtual, measurement-based interferometer that is programmed on the fly solely by the choice of homodyne measurement angles.…
We present methods and results of the testing of an inexpensive home-made diffraction limited lens system, the design of which was proposed in a recent paper and which has since been used (with slight alterations) by several research…
Edge computing pushes the cloud computing boundaries beyond uncertain network resource by leveraging computational processes close to the source and target of data. Time-sensitive and data-intensive video surveillance applications benefit…
For an easy use of model order reduction techniques in applications, software solutions are needed. In this paper, we describe the MORLAB, Model Order Reduction LABoratory, toolbox as an efficient implementation of model reduction…
This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…
We present a NIM 2U slow-control system designed for continuous monitoring of environmental and facility parameters during data taking in nuclear physics experiments. The architecture integrates a base controller board with eight channels…
Driven by the need to offset the variability of wind and solar generation on the electrical grid, development of load controls is a highly active field in the engineering literature. However, practical use of residential loads for grid…
The electric power system is a cyber-physical system with power flow in the physical system and information flow in the cyber. Simulation is crucial to understanding the dynamics and control of electric power systems yet the underlying…
Roll-to-roll slot die coating is a widely used industrial manufacturing technique applied in a diverse range of applications such as the production of lithium-ion batteries, solar cells and optical films. The efficiency of roll-to-roll slot…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance…
A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…