相关论文: Control of an Architectural Cable Net Geometry

This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…

With the increase in data availability, it has been widely demonstrated that neural networks (NN) can capture complex system dynamics precisely in a data-driven manner. However, the architectural complexity and nonlinearity of the NNs make…

Due to recent advances, the numerical analysis of submarine three-core armored cables can nowadays be developed through the finite element method (FEM) in a small slice of the cable. This strongly reduces the computational burden and…

One of the most pressing challenges prevalent in the steel manufacturing industry is the identification of surface defects. Early identification of casting defects can help boost performance, including streamlining production processes.…

The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…

Abrupt transitions in ecosystems can be interconnected, raising challenges for science and management in identifying sufficient interventions to prevent them or recover from undesirable shifts. Here we use principles of network…

Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…

This paper presents a sample-efficient data-driven method to design model predictive control (MPC) for cable-actuated soft robotics using Bayesian optimization. Instead of modeling the complex dynamics of the soft robots, the proposed…

Maintaining an acceptable level of quality of service in modern complex systems is challenging, particularly in the presence of various forms of uncertainty caused by changing execution context, unpredicted events, etc. Although…

Each element in tensioned structural networks -- such as tensegrity, architectural fabrics, or medical braces/meshes -- requires a specific tension level to achieve and maintain the desired shape, stability, and compliance. These structures…

Adaptive methods are popular within the control literature due to the flexibility and forgiveness they offer in the area of modelling. Neural network adaptive control is favorable specifically for the powerful nature of the machine learning…

We introduce a versatile framework to model and study networked control systems (NCSs). An NCS is described as a feedback interconnection of a plant and a controller communicating through a bidirectional channel modelled by cascaded…

Materials that change their shape in response to external stimuli opens up new prospects for efficient and versatile design and shaping of three-dimensional objects. Here, we present a novel class of micro-structures exhibiting an…

Our ability to manipulate the behavior of complex networks depends on the design of efficient control algorithms and, critically, on the availability of an accurate and tractable model of the network dynamics. While the design of control…

This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…

This paper studies the controllability backbone problem in dynamical networks defined over graphs. The main idea of the controllability backbone is to identify a small subset of edges in a given network such that any subnetwork containing…

We consider the optimal distributed controller design problem subject to two structural requirements: locality, i.e. available measurements and sub-controllers' interactions are governed by a graph structure, and relative feedback, i.e.…

It is proved that network realizability of controllers can be enforced without conservatism using convex constraints on the closed loop transfer function. Once a network realizable closed loop transfer matrix has been found, a corresponding…

This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…