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This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
Atom interferometers have a multitude of proposed applications in space including precise measurements of the Earth's gravitational field, in navigation & ranging, and in fundamental physics such as tests of the weak equivalence principle…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
DAMSA (DArk Messenger Searches at an Accelerator) is a novel short-baseline accelerator experiment aimed at probing short-lived physics processes, including searches for evidence of a dark sector of particle physics and well-motivated…
Objective - This work introduces Dareplane, a modular and broad technology-agnostic open source software platform for brain-computer interface research with an application focus on adaptive deep brain stimulation (aDBS). One difficulty for…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
There has been increasing interest in characterising the error behaviour of systems which contain deep learning models before deploying them into any safety-critical scenario. However, characterising such behaviour usually requires…
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for…
We propose two distributed set-based observers using strip-based and set-propagation approaches for linear discrete-time dynamical systems with bounded modeling and measurement uncertainties. Both algorithms utilize a set-based diffusion…
Lab::Measurement is a framework for test and measurement automatization using Perl 5. While primarily developed with applications in mesoscopic physics in mind, it is widely adaptable. Internally, a layer model is implemented. Communication…
To understand how well a proposed augmented reality (AR) solution works, existing papers often conducted tailored and isolated evaluations for specific AR tasks, e.g., depth or lighting estimation, and compared them to easy-to-setup…
In recent years, the success of the Koopman operator in dynamical systems analysis has also fueled the development of Koopman operator-based control frameworks. In order to preserve the relatively low data requirements for an approximation…
Perceiving the surrounding environment is essential for enabling autonomous or assisted driving functionalities. Common tasks in this domain include detecting road users, as well as determining lane boundaries and classifying driving…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terramechanics models are often too…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
As the proportion of renewable energy and power electronics in the power system increases, modeling frequency dynamics under power deficits becomes more challenging. Although data-driven methods help mitigate these challenges, they are…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
A robust and flexible architecture capable of providing real-time analysis on diagnostic data is of crucial importance to physics experiments. In this paper, we present such an online framework, used in June 2025 as part of the HRMT-68…