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Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…

Precision space inertial sensors are imperative to Earth geodesy missions, gravitational wave observations and several fundamental physics experiments in space. In these missions, the residual acceleration noise of the test mass(TM) caused…

This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…

We present MetaTT, a Tensor Train (TT) adapter framework for fine-tuning of pre-trained transformers. MetaTT enables flexible and parameter-efficient model adaptation by using a single shared TT to factorize transformer sub-modules. This…

Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…

This paper analyses the dynamic response of a robot when subject to an external force that is applied to its Center of Mass (CoM). The Ratio of Transmission of Motion (RoToM) is proposed as a novel indicator of what part of the applied…

Optimal control of magnetizing current for minimizing induction motor power losses during load torque step change was developed. Obtained strategy has feedback form and is exactly optimal of ideal speed controller performance and absence of…

Reconfigurable transmitarray antennas (RTAs) are rapidly gaining popularity, but optimizing their performance requires systematic design theories. In particular, establishing a performance limit theory for RTA elements is valuable. This…

This brief addresses the gearshifting problem for Semi-Automated Manual Transmissions (S-AMT) in powered two-wheelers, a powertrain setup that allows fast and smooth gear shifts with minimal modifications to the traditional manual…

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…

This paper deals with the problem of formulating an adaptive Model Predictive Control strategy for constrained uncertain systems. We consider a linear system, in presence of bounded time varying additive uncertainty. The uncertainty is…

This paper derives a generalized class of waveforms with an application to machine-type communication (MTC) while studying its underlying structural characteristics in relation to conventional modulation waveforms. First, a canonical…

Mobile machines using a hydrostatic transmission is highly efficient under lower working-speed condition but less capable at higher transport velocities. To enhance overall efficiency, we have improved the powertrain design by combining a…

Thermoelectric (TE) generators can directly convert heat into electricity, but their performance is often constrained by limited temperature gradients. Here it is shown that width-modulated metamaterials with constrictions and expansions…

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots, thereby fostering the evolution of these robotic systems. We introduce two novel compliant actuators, namely the Internal…

The energy transition is causing many stability-related challenges for power systems. Transient stability refers to the ability of a power grid's bus angles to retain synchronism after the occurrence of a major fault. In this paper a…

This paper presents a novel wireless sensing system where a movable antenna (MA) continuously moves and receives sensing signals within a three-dimensional (3-D) region to enhance sensing performance compared with conventional…

The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle's power-train. Effects of acceleration-feedback control that were not previously studied are found. For small…

This paper presents a novel auto-tuning subsystem-based fault-tolerant control (SBFC) system designed for robotic manipulator systems with n degrees of freedom (DoF). It initially proposes a novel model for joint torques, incorporating an…

This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…