相关论文: Performance Analysis of Series Elastic Actuator ba…
Dynamic Traffic Assignment (DTA) provides an approach to determine the optimal path and/or departure time based on the transportation network characteristics and user behavior (e.g., selfish or social). In the literature, most of the…
The concept of fault-tolerant control has extensively been explored with various mapping of development. It starts from the system characteristic, the robustness of the controller, estimation methods and optimization, to the combination of…
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
This paper presents an adaptive equivalent consumption minimization strategy (ECMS) and a linear quadratic tracking (LQT) method for optimal power-split control of combustion engine and electric machine in a hybrid electric vehicle (HEV).…
The increasing extreme weather events poses unprecedented challenges on power system operation because of their uncertain and sequential impacts on power systems. This paper proposes the concept of an extended steady-state security region…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Massive Machine-Type Communications (MTC) over cellular networks is expected to be an integral part of wireless "Smart City" applications. The Long Term Evolution (LTE)/LTE-Advanced (LTE-A) technology is a major candidate for provisioning…
A fundamental capability for On-orbit Servicing, Assembly, and Manufacturing (OSAM) is inspection of the vehicle to be serviced, or the structure being assembled. This research assumes autonomous slewing to maintain situational awareness of…
In this paper, we model the minimum achievable throughput within a transmission block of restricted duration and aim to maximize it in movable antenna (MA)-enabled multiuser downlink communications. Particularly, we account for the antenna…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
The concept of reconfigurable fluid antennas (FA) is a potential and promising solution to enhance the spectral efficiency of wireless communication networks. Despite their many advantages, FA-enabled communications have limitations as they…
Excess of probabilities of elastic processes over inelastic ones is a characteristic feature of the chaotic resonance scattering predicted by the random matrix theory (RMT). Quantitatively, this phenomenon is characterized by the elastic…
Limited bandwidth and limited saturation in actuators are practical concerns in control systems. Mathematically, these limitations manifest as constraints being imposed on the control actions, their rates of change, and more generally, the…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
This paper proposes an event-triggered sliding mode control (SMC) scheme combined with a backstepping algorithm for control of 2-DOF humanoid's lower-limb powered by Series elastic actuator (SEA). First, the modelling process for the…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
State machines are a common model for robot behaviors. Transition functions often rely on parameterized conditions to model preconditions for the controllers, where the correct values of the parameters depend on factors relating to the…
This paper introduces Elastic Decision Transformer (EDT), a significant advancement over the existing Decision Transformer (DT) and its variants. Although DT purports to generate an optimal trajectory, empirical evidence suggests it…