相关论文: Unscented External Force and Torque Estimation for…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
Input current estimation is indispensable in the sensorless control algorithms for the problem of power factor compensation (PFC) of an AC-DC boost converter. The system estimator design is challenged by the bilinear form dynamics and…
We review some of the recent developments regarding mass, angular momentum and pressure forces inside hadrons. These properties are all encoded in the energy-momentum tensor of the system, which is described at the non-perturbative level in…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
A capillary jet falling under the effect of gravity continuously stretches while thinning downstream. We report here the effect of external periodic forcing on such a spatially varying jet in the jetting regime. Surprisingly, the optimal…
A novel method for calculating power output from wind turbines using Newtonian mechanics is proposed. This contrasts with current methods based on interception rates by airfoils of kinetic energy to estimate power output, governed by the…
In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state…
An efficient estimator is constructed for the quadratic covariation or integrated co-volatility matrix of a multivariate continuous martingale based on noisy and nonsynchronous observations under high-frequency asymptotics. Our approach…
We discuss non-ideal torque control in wind turbine systems (WTS). Most high-level controllers generate a reference torque which is then send to the underlying electrical drive system (generator+inverter) of the WTS to steer the…
A main problem in autonomous vehicles in general, and in \acp{UAV} in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an…
We present a new unbiased algorithm that estimates the expected value of f(U) via Monte Carlo simulation, where U is a vector of d independent random variables, and f is a function of d variables. We assume that f does not depend equally on…
In this paper we propose an algorithm for the training of neural network control policies for quadrotors. The learned control policy computes control commands directly from sensor inputs and is hence computationally efficient. An imitation…
This work presents an investigation on different methods for the calculation of the angle of attack and the underlying induced velocity on wind turbine blades using data obtained from three-dimensional Computational Fluid Dynamics (CFD).…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
Vibrations of the Jeffcott rotor are modelled by a three degree of freedom system including coupling between lateral and torsional modes. The crack in a rotating shaft of the rotor is introduced via time dependent stiffness with off…
This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator…
Electric Take-Off and Landing (eVTOL) aircraft is considered as the major aircraft type in the emerging urban air mobility. Accurate power consumption estimation is crucial to eVTOL, supporting advanced power management strategies and…
Unmanned aerial vehicles are becoming common and have many productive uses. However, their increased prevalence raises safety concerns -- how can we protect restricted airspace? Knowing the type of unmanned aerial vehicle can go a long way…