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Visual-inertial odometry (VIO) is widely used for state estimation in autonomous micro aerial vehicles using onboard sensors. Current methods improve VIO by incorporating a model of the translational vehicle dynamics, yet their performance…
Gradient Descent Ascent (GDA) methods for min-max optimization problems typically produce oscillatory behavior that can lead to instability, e.g., in bilinear settings. To address this problem, we introduce a dissipation term into the GDA…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
Robust recommendation aims at capturing true preference of users from noisy data, for which there are two lines of methods have been proposed. One is based on noise injection, and the other is to adopt the generative model Variational…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
Using minimal models for low Reynolds number passive and active rotors in a fluid, we characterize the hydrodynamic interactions among rotors and the resulting dynamics of a pair of interacting rotors. This allows us to treat in a common…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Flow-induced vibration (FIV) commonly occurs in rigidly coupled twin-pipe structures. However, the limited understanding of their FIV responses and hydrodynamic features presents a major challenge to the development of reliable engineering…
We introduce minimal passive physical equivalents of series (damped) elastic actuation (S(D)EA) under closed-loop control to determine the effect of different plant parameters and controller gains on the closed-loop performance of the…
In this note, first the Recurrent Variational Approach (RVA) is introduced by using as example a non-trivial spin-model, the spin-1/2 antiferromagnetic two-leg-ladder. Then, a first application of this scheme to the electronic structure of…
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential…
Virtual oscillator control is the latest control technique for grid-forming inverters. Virtual Oscillator based Controllers (VOCs) provide all the steady-state droop functionalities of conventional droop controllers and, in addition, the…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
Dynamic induction control is a wind farm flow control strategy that utilises wind turbine thrust variations to accelerate breakdown of the aerodynamic wake and improve downstream turbine performance. However, when floating wind turbines are…
Recent 3D content generation pipelines commonly employ Variational Autoencoders (VAEs) to encode shapes into compact latent representations for diffusion-based generation. However, the widely adopted uniform point sampling strategy in Shape…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
Undulatory slender objects have been a central theme in the hydrodynamics of swimming at low Reynolds number, where the slender body is usually assumed to be inextensible, although some microorganisms and artificial microrobots largely…
This study investigates the influence of aerofoil shape optimisation on blade aerodynamic performance under curvilinear and unsteady kinematics characteristic of vertical-axis turbines and cycloidal propellers. Using a cyclorotor in hover…
We apply a data-based, linear dynamic estimator to reconstruct the velocity field from measurements at a single sensor point in the wake of an aerofoil. In particular, we consider a NACA0012 airfoil at $Re=600$ and $16^{\deg}$ angle of…
For the dynamic analysis of floating offshore wind turbines (FOWTs) in realistic operating environment, this paper develops a coupled aero-hydro-mooring-servo model applicable to turbulent wind and irregular sea states with high…