相关论文: Study of the Dynamic Coupling Term (\mu) in Parall…
Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agent systems would help towards designing safe and reliable…
The wider application of end-to-end learning methods to embodied decision-making domains remains bottlenecked by their reliance on a superabundance of training data representative of the target domain. Meta-reinforcement learning (meta-RL)…
Accurate motion state estimation of Vulnerable Road Users (VRUs), is a critical requirement for autonomous vehicles that navigate in urban environments. Due to their computational efficiency, many traditional autonomy systems perform…
Energy efficiency is a crucial issue towards longterm deployment of compliant robots in the real world. In the context of variable impedance actuators (VIAs), one of the main focuses has been on improving energy efficiency through reduction…
Visual-Inertial Odometry (VIO) is a critical component for robust ego-motion estimation, enabling foundational capabilities such as autonomous navigation in robotics and real-time 6-DoF tracking for augmented reality. Existing methods face…
Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally,…
In this paper, we study phase-amplitude multivariable dynamics in converter-based power systems from a complex-frequency perspective. Complex frequency represents the rate of change of voltage amplitude and phase angle by its real and…
The article focuses on enhancing the energy efficiency of linear actuators used in heavy earth moving equipment, particularly in the booms ofexcavation equipment. Two hydraulic circuits are compared in terms of energy efficiency, with one…
Model merging is an efficient post-training strategy for integrating knowledge from multiple finetuned checkpoints of a shared foundation model. Existing methods operate in the parameter space, combining task vectors to mitigate conflicts,…
This paper addresses the issue of actuator selection for active flow control by proposing a novel method built on top of a reinforcement learning agent. Starting from a pre-trained agent using numerous actuators, the algorithm estimates the…
Unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) and data collection (DC) have been popular research issues. Different from existing works that consider MEC and DC scenarios separately, this paper investigates a…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
One-ports named "f-circuits", composed of similar conductors described by a monotonic polynomial, or quasi-polynomial (i.e. with positive but not necessarily integer, powers) characteristic i = f(v) are studied, focusing on the algebraic…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…
This paper develops a predictive modeling algorithm, denoted as Real-Time Vector Fitting (RTVF), which is capable of approximating the real-time linearized dynamics of multi-input multi-output (MIMO) dynamical systems via rational transfer…
We present a theoretical analysis of the dynamic structure factor (DSF) of a liquid at and below the mode coupling critical temperature $T_c$, by developing a self-consistent theoretical treatment which includes the contributions both from…
Multivariate functional principal component analysis (MFPCA) is a powerful dimension reduction technique for analyzing multiple functional variables simultaneously. However, existing MFPCA methods assume that all functional observations are…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
A novel active fault-tolerant control (AFTC) scheme for a dual-system vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) during transition flight is proposed in this paper. The AFTC scheme is composed of a baseline control…
This paper aims at analyzing the effect of the zero dynamics of the Dual Active Bridge Isolated Bidirectional dc-dc converter (DAB) on the dynamics of the complete DAB system. It also explains its influence on controller design for the DAB…