相关论文: Control of an Architectural Cable Net Geometry
We present a structured neural network architecture that is inspired by linear time-varying dynamical systems. The network is designed to mimic the properties of linear dynamical systems which makes analysis and control simple. The…
To maintain structural integrity and functionality during the designed life cycle of a structure, engineers are expected to accommodate for natural hazards as well as operational load levels. Active control systems are an efficient solution…
This paper addresses frequency regulation under operational constraints in interconnected power systems with high penetration of inverter-based renewable generation. A two-layer control architecture is proposed that combines optimized droop…
In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
The rise of multi-section continuum robots (CRs) has captivated researchers and practitioners across diverse industries and medical fields. Accurate modeling of these dexterous manipulators continues to be a significant challenge. This…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…
Beam shaping techniques enable tailored beam trajectories, offering unprecedented connectivity opportunities in wireless communications. Current approaches rely on flat apertures, which limit trajectory flexibility due to inherent geometric…
Dynamic analysis of structures subjected to earthquake excitation is a time-consuming process, particularly in the case of extremely small time step required, or in the presence of high geometric and material nonlinearity. Performing…
Capsules as well as dynamic routing between them are most recently proposed structures for deep neural networks. A capsule groups data into vectors or matrices as poses rather than conventional scalars to represent specific properties of…
Due to the rapid developments in synchronized measurement technologies, there exist enormous opportunities to attenuate disturbances in future power grids with high penetration of renewables and complex load demands. To that end, this paper…
Uncertainty from renewable energy and loads is one of the major challenges for stable grid operation. Various approaches have been explored to remedy these uncertainties. In this paper, we design centralized or decentralized state-feedback…
In this paper, controllability of undirected networked systems with {diffusively coupled subsystems} is considered, where each subsystem is of {identically {\emph{fixed}}} general high-order single-input-multi-output dynamics. The…
We study numerically the cascading failure problem by using artificially created scale-free networks and the real network structure of the power grid. The capacity for a vertex is assigned as a monotonically increasing function of the load…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Current dynamic networks and dynamic pruning methods have shown their promising capability in reducing theoretical computation complexity. However, dynamic sparse patterns on convolutional filters fail to achieve actual acceleration in…
Additively manufactured (AM) architected materials have enabled unprecedented control over mechanical properties of engineered materials. While lattice architectures have played a key role in these advances, they suffer from stress…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
Decoupling the permanent identifier of a node from the node's topology-dependent address is a promising approach toward completely scalable self-organizing networks. A group of proposals that have adopted such an approach use the same…
Robust quantum control is crucial for realizing practical quantum technologies. Energy landscape shaping offers an alternative to conventional dynamic control, providing theoretically enhanced robustness and simplifying implementation for…