相关论文: Sensorless position estimation of Permanent-Magnet…

Magnetic Particle Imaging (MPI) is a novel medical imaging modality. One of the established methods for MPI reconstruction is based on the System Matrix (SM). However, the calibration of the SM is often time-consuming and requires repeated…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

In this paper, a wide-area measurement system (WAMS)-based method is proposed to estimate the system state matrix for AC system with integrated voltage source converters (VSCs) and identify the electromechanical modes. The proposed method…

We present an approach for accelerating nonlinear model predictive control. If the current optimal input signal is saturated, also the optimal signals in subsequent time steps often are. We propose to use the open-loop optimal input signals…

Perceptive mobile networks (PMNs) were proposed to integrate sensing capability into current cellular networks where multiple sensing nodes (SNs) can collaboratively sense the same targets. Besides the active sensing in traditional radar…

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming…

Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…

The in-circuit common-mode (CM) impedance at the AC input of a motor drive system (MDS) provides valuable inputs for evaluating and estimating the CM electromagnetic interference (EMI) noise generated by the switching of power semiconductor…

Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the restriction to symmetry-induced dynamics, e.g. by using the…

Limited measurement availability at the distribution grid presents challenges for state estimation and situational awareness. This paper combines the advantages of two sparsity-based state estimation approaches (matrix completion and…

In this paper, we investigate the long-term memory learning capabilities of state-space models (SSMs) from the perspective of parameterization. We prove that state-space models without any reparameterization exhibit a memory limitation…

Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under…

This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…

In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…

Impedance-based small-signal stability analysis is widely applied in practical engineering with modular multilevel converters (MMCs). However, the deficiencies of existing impedance models (IMs) and the idealized extension for the single…

We present a novel approach for the analysis of passively mode-locked semiconductor lasers that allows for efficient parameter sweeps and time jitter analysis. It permits accessing the ultra-low repetition rate regime where pulses become…

Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this…

This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel…