Related papers: Variable Aerodynamic Damping via Co-Contraction: A…
Inverse Dynamics Models (IDMs) map visual observations to low-level action commands, serving as central components for data labeling and policy execution in embodied AI. However, their performance degrades severely under manipulator…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
Electroaerodynamic propulsion, where force is produced through collisions between electrostatically accelerated ions and neutral air molecules, is an attractive alternative to propeller- and flapping wing-based methods for micro air vehicle…
The linear stability with variable coefficients of the vortex sheets for the two-dimensional compressible elastic flows is studied. As in our earlier work on the linear stability with constant coefficients, the problem has a free boundary…
In this paper, we introduce a simplified and unified method for finite-sum convex optimization, named \emph{Variance Reduction via Accelerated Dual Averaging (VRADA)}. In both general convex and strongly convex settings, VRADA can attain an…
Portable active back support devices (BSDs) offer tunable assistance but are often bulky and heavy, limiting their usability. In contrast, passive BSDs are lightweight and compact but lack the ability to adapt their assistance to different…
A large number of coils are able to provide enhanced signal-to-noise ratio and improve imaging performance in parallel imaging. Nevertheless, the increasing growth of coil number simultaneously aggravates the drawbacks of data storage and…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
This paper proposes a nonlinear, adaptive controller to increase the stability margin of a direct-current (DC) small-scale electrical network containing a constant power load, whose value is unknown. Due to their negative incremental…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
Metadamping is the phenomenon of either enhanced or diminished intrinsic dissipation in a material stemming from the material's internal structural dynamics. It has been previously shown that a locally resonant elastic metamaterial may be…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. While this approach has been…
Standing slow-mode waves have been recently observed in flaring loops by the Atmospheric Imaging Assembly (AIA) of the Solar Dynamics Observatory (SDO). By means of the coronal seismology technique transport coefficients in hot ($\sim$10…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by…
We extend the formulation of position-based rods to include elastic volumetric deformations. We achieve this by introducing an additional degree of freedom per vertex -- isotropic scale (and its velocity). Including scale enriches the space…
This paper reviews the Serret-Andoyer (SA) canonical formalism in rigid-body dynamics and presents some new results. As is well known, the problem of unsupported and unperturbed rigid rotator can be reduced. The availability of this…
Power grids are evolving toward 100% renewable energy interfaced by inverters. Virtual inertia and damping provided by inverters are essential to synchronism and frequency stability of future power grids. This paper numerically addresses…