相关论文: Automated Flight Test and System Identification fo…

We study a simple modification to the conventional time of flight mass spectrometry (TOFMS) where a \emph{variable} and (pseudo)-\emph{random} pulsing rate is used which allows for traces from different pulses to overlap. This modification…

Hundreds of applications utilize frequency response characterization of a system. Identification of frequency response requires long experimentation time, use of transformation techniques and other difficulties associated with isolating the…

Learning models or control policies from data has become a powerful tool to improve the performance of uncertain systems. While a strong focus has been placed on increasing the amount and quality of data to improve performance, data can…

The aim is to create reliable and verifiable fault detection software to detect abrupt changes in safety-critical dynamic systems. Fault detection methods are implemented as software on digital computers that monitor and control the system.…

Modern machine learning techniques have shown tremendous potential, especially for object detection on camera images. For this reason, they are also used to enable safety-critical automated processes such as autonomous drone flights. We…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…

This paper describes the process and challenges behind the design and development of a micro-gravity enabling aerial robot. The vehicle, designed to provide at minimum 4 seconds of micro-gravity at an accuracy of .001 g's, is designed with…

This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers…

In this work, we derive a generic overcomplete frame thresholding scheme based on risk minimization. Overcomplete frames being favored for analysis tasks such as classification, regression or anomaly detection, we provide a way to leverage…

Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…

We have implemented a control system for experiments in atomic, molecular and optical physics based on a commercial low-cost board, featuring a field-programmable gate array as part of a system-on-a-chip on which a Linux operating system is…

We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…

We present our approach for the development, validation and deployment of a data-driven decision-making function for the automated control of a vehicle. The decisionmaking function, based on an artificial neural network is trained to steer…

Iterative Learning Control (ILC) is useful in spacecraft application for repeated high precision scanning maneuvers. Repetitive Control (RC) produces effective active vibration isolation based on frequency response. This paper considers ILC…

The paper illustrates an application of the Resampling approach [2] for the estimation of the aircraft circulation plan reliability. Resampling is an intensive computer statistical method, which can be used effectively in the case of small…

A key factor that generates significant interest in reset control systems, especially within industrial contexts, is their potential to be designed using a frequency-domain loop-shaping procedure. On the other hand, formulating and…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

In this paper we present a Learning Model Predictive Controller (LMPC) for autonomous racing. We model the autonomous racing problem as a minimum time iterative control task, where an iteration corresponds to a lap. In the proposed approach…

Rotating machines like engines, pumps, or turbines are ubiquitous in modern day societies. Their mechanical parts such as electrical engines, rotors, or bearings are the major components and any failure in them may result in their total…