相关论文: "Intelligent" controllers on cheap and small progr…
Successful feedback control of small systems allows for the rectification of thermal fluctuations, converting them into useful energy; however, control itself requires work. This paper emphasizes the fact that the controller is a physical…
Partial observability and controllability are two well-known issues in test-case synthesis for interactive systems. We address the problem of partial control in the synthesis of test cases from timed-automata specifications. Building on the…
The sensitivity properties of intermittent control are analysed and the conditions for a limit cycle derived theoretically and verified by simulation.
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…
In this paper we consider a linear system structured into physically coupled subsystems and propose a decentralized control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. The…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…
Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This…
Declines in cost and concerns about the environmental impact of traditional generation have boosted the penetration of renewables and non-conventional distributed energy resources into the power grid. The intermittent availability of these…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Advances in computer vision and machine learning enable robots to perceive their surroundings in powerful new ways, but these perception modules have well-known fragilities. We consider the problem of synthesizing a safe controller that is…
Smart sensors are an emerging technology that allows combining the data acquisition with the elaboration directly on the Edge device, very close to the sensors. To push this concept to the extreme, technology companies are proposing a new…
This paper develops a new active fault tolerant control system based on the concept of analytical redundancy. The novel design consists of an observation filter based fault detection and identification system integrated with a nonlinear…
We propose and demonstrate a nonlinear control method that can be applied to unknown, complex systems where the controller is based on a type of artificial neural network known as a reservoir computer. In contrast to many modern…
Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent controllers due to the unknown human dynamics acting on the…
Recent advancements in large pre-trained transformer models (GPT2/3, T5) have found use in program synthesis to generate programs that satisfy a set of input/output examples. However, these models perform poorly on long-horizon and low-data…
Using open-source and creative coding frameworks, a teamof artist-engineers from Portland Community College work-ing with artists who experience Intellectual/Developmentaldisabilities prototyped an ensemble of adapted instrumentsand…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…
For an unknown linear system, starting from noisy open-loop input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the…