相关论文: Identification of Motor Parameters on Coupled Join…
This paper introduces a dual input-output parameterization (dual IOP) for the identification of linear time-invariant systems from closed-loop data. It draws inspiration from the recent input-output parameterization developed to synthesize…
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
Dynamics of coupled spin-torque oscillators can be exploited for non-Boolean information processing. However, the feasibility of coupling large number of STOs with energy-efficiency and sufficient robustness towards parameter-variation and…
Rotors operating in confined flows, or blockage, are commonly encountered in wind and water tunnels, as well as in shallow or dense deployments of hydrokinetic turbines. Confinement induces a streamwise pressure gradient in the channel,…
We exploit local quantum estimation theory to investigate the measurement of linear and quadratic coupling strengths in a driven-dissipative optomechanical system. For experimentally realistic values of the model parameters, we find that…
High-frequency inductive power transfer (IPT) has garnered significant attention in recent years due to its long transmission distance and high efficiency. The inductance values L and quality factors Q of the transmitting and receiving…
A model predictive control (MPC) scheme for a permanent-magnet synchronous motor (PMSM) is presented. The torque controller optimizes a quadratic cost consisting of control error and machine losses repeatedly, accounting the voltage and…
On the basis of the transport features and experimental phenomena observed in studies of molecular motors, we proposea double-temperature ratchet model of coupled motors to reveal the dynamical mechanism of cooperative transport of motors…
Purpose: Magnetic polarizability tensors (MPTs) provide an economical characterisation of conducting magnetic metallic objects and their spectral signature can aid in the solution of metal detection inverse problems, such as scrap metal…
An approach to the mechanical behaviour of textile composites at the scale of their constituting fibres, using an implicit finite element simulation code, is proposed in this chapter. The approach is based on efficient methods and…
Rotor position feedback is required in many industrial and automotive applications, e.g. for field-oriented control of brushless motors. Traditionally, magnetic sensors, resolvers or optical encoders are used to measure the rotor position.…
Field oriented control of permanent magnet synchronous motor drives involves the closed-loop regulation of currents in the synchronous reference frame. The current feedback is directly affected by errors in both position and stationary…
Property Directed Reachability (PDR) is a powerful algorithm for formal verification of hardware and software systems, but its performance is highly sensitive to parameter configurations. Manual parameter tuning is time-consuming and…
The dynamical systems found in Nature are rarely isolated. Instead they interact and influence each other. The coupling functions that connect them contain detailed information about the functional mechanisms underlying the interactions and…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
We review data analysis techniques that can be used to study temporal correlations among conductance traces in break junction measurements. We show that temporal histograms are a simple but efficient tool to check the temporal homogeneity…
A key step in control of precision mechatronic systems is Frequency Response Function (FRF) identification. The aim of this paper is to illustrate relevant developments and solutions for FRF identification for advanced motion control.…
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…