Related papers: A tutorial on inversion-based shape control with d…
Inverse-designed Silicon photonic metastructures offer an efficient platform to perform analog computations with electromagnetic waves. However, due to computational difficulties, scaling up these metastructures to handle a large number of…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
Tokamak plasmas are confined by a magnetic field that limits the particle and heat transport perpendicular to the field. Parallel to the field the ionised particles can move freely, so to obtain confinement the field lines are "closed" (ie.…
One of the main challenges concerning next generation tokamaks (such as DEMO) will be the development of a heat and power exhaust system able to withstand the large loads expected in the divertor region. A dedicated Divertor Tokamak Test…
The aim of this paper is to provide a solid mathematical discussion of the inverse problem in Magnetorelaxometry Imaging (MRXI), a currently developed technique for quantitative biomedical imaging using magnetic nanoparticles. We provide a…
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…
This paper describes an inverse shape design method for thermoelastic bodies. With a known equilibrium shape as input, the focus of this paper is the determination of the corresponding initial shape of a body undergoing thermal expansion or…
Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…
This work is motivated by the monitoring of conductive clogging deposits in steam generator at the level of support plates. One would like to use monoaxial coils measurements to obtain estimates on the clogging volume. We propose a 3D shape…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
The EXL-50U spherical tokamak was built by Energy iNNovation to develop technologies for proton-boron fusion in spherical tokamaks (Liu et al., Phys. Plasmas 2024). We present a conceptual design of the Doppler backscattering (DBS)…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
Magnetic islands play a crucial role in regulating plasma confinement in tokamaks by interacting with micro-instabilities, such as the ion temperature gradient (ITG) mode. This work presents a detailed investigation of the effects of static…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
In this work feedback control laws are designed for achieving three-axis attitude stabilization of inertial pointing spacecraft using only magnetic torquers. The designs are based on an almost periodic model of geomagnetic field along the…
The induction motor controlled by Indirect Field Oriented Control (IFOC) is known to have high performance and better stability. This paper reports the dynamical behavior of an indirect field oriented control (IFOC) induction motor drive in…
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enforce the dynamic model as a constraint. However, we show…