Related papers: Controlling Smart Matter
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in which the uncertainty is modeled at the macro (system)…
Natural materials often feature a combination of soft and stiff phases, arranged to achieve excellent mechanical properties, such as high strength and toughness. Many natural materials have even independently evolved to have similar…
This research proposes new tools for investigation of behavioral diversity in multi-robot systems and a significant body of results using these tools in simulated and real mobile robot experiments. The experiments specifically describe a…
Adaptive interventions (AIs) are increasingly becoming popular in medical and behavioral sciences. An AI is a sequence of individualized intervention options that specify for whom and under what conditions different intervention options…
To comprehend the hierarchical organization of large integrated systems, we introduce the hierarchical map equation, which reveals multilevel structures in networks. In this information-theoretic approach, we exploit the duality between…
An ideal safe workplace is described as a place where staffs fulfill responsibilities in a well-organized order, potential hazardous events are being monitored in real-time, as well as the number of accidents and relevant damages are…
Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…
The macroscopic properties of materials that we observe and exploit in engineering application result from complex interactions between physics at multiple length and time scales: electronic, atomistic, defects, domains etc. Multiscale…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
We study control problems in the context of matching under preferences: We examine how a central authority, called the controller, can manipulate an instance of the Stable Marriage or Stable Roommates problems in order to achieve certain…
Neuromorphic engineering is a rapidly developing field that aims to take inspiration from the biological organization of neural systems to develop novel technology for computing, sensing, and actuating. The unique properties of such systems…
The system's ability to adapt and self-organize are two key factors when it comes to how well the system can survive the changes to the environment and the plant they work within. Intelligent control improves these two factors in…
Coherent transport of atoms trapped in an optical lattice can be controlled by microwave-induced spin flips that correlate with site-to-site hopping. We study the controllability of homogeneous one-dimensional systems of noninteracting…
We deduce stability results for finite control set and mixed-integer model predictive control with a downstream oversampling phase. The presentation rests upon the inherent robustness of model predictive control with stabilizing terminal…
Multistability, the coexistence of multiple stable states, is a cornerstone of nonlinear dynamical systems, governing their equilibrium, tunability, and emergent complexity. Recently, the concept of hidden multistability, where certain…
The increasing penetration of inertialess new renewable energy sources reduces the overall mechanical inertia available in power grids and accordingly raises a number of issues of grid stability over short to medium time scales. It has been…
We demonstrate that chaos can be controlled using a multiplicative exponential feedback control. All three types of unstable orbits - unstable fixed points, limit cycles and chaotic trajectories can be stabilized using this control. The…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having more and more degrees of freedom, this can lead to an entire…