相关论文: Sensorless rotor position estimation by PWM-induce…

In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard…

Interior permanent magnet synchronous machine drives are widely employed in electric traction systems and various industrial processes. However, prolonged exposure to high temperatures while operating can demagnetize the permanent magnets…

This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…

We propose a procedure to demodulate analog signals encoded by a multicarrier modulator, with slowly-varying carrier shapes. We prove that the asymptotic demodulation error can be made arbitrarily small. The intended application is the…

A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…

This paper presents a sensor-less maximum power tracking (MPT) pitch controller for grid connected Wind Turbine (WT). The main advantage of the proposed architecture is that the approach ensures smooth operation and thus minimizes the…

Accurate prediction of battery state of charge is needed for autonomous robots to plan movements without using up all available power. This work develops a physics and data-informed model from a simulation that predicts SOC depletion as a…

This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…

Resonant electromagnetic actuators have been broadly used as vibration motors for mobile devices given their ability of generating relatively fast, strong, and controllable vibration force at a given resonant frequency. Mechanism of the…

Model-free reinforcement learning has recently been shown to successfully learn navigation policies from raw sensor data. In this work, we address the problem of learning driving policies for an autonomous agent in a high-fidelity…

Among various satellite actuators, magnetic torquers have been widely equipped for stabilization and attitude control of small satellites. Although magnetorquers are generally used with other actuators, such as momentum wheels, this paper…

This paper proposes machine-independent feature engineering for winding inter-turn short circuit fault that uses electrical current signals. Electrical current signal collected from permanent magnet synchronous motor (PMSM) is subjected to…

The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…

Currently, for many applications, it is necessary to know the speed and position of motors. This can be achieved using mechanical sensors coupled to the motor shaft or using sensorless techniques. The sensorless techniques in brushed dc…

We extend our work on a novel indoor positioning system (IPS) for autonomous mobile robots (AMRs) based on radar sensing of local, passive radar reflectors. Through the combination of simple reflectors and a single-channel frequency…

In this paper we study the question of how to reconstruct the state of a power system using Phasor Measurement Units (PMUs). In our previous research we proved that this question has an affirmative answer imposing some rather strict…

Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…

We show that in pulsed electrically detected magnetic resonance (pEDMR) signal modulation in combination with a lock-in detection scheme can reduce the low-frequency noise level by one order of magnitude and in addition removes the…

Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…

Although projection-based reduced-order models (ROMs) for parameterized nonlinear dynamical systems have demonstrated exciting results across a range of applications, their broad adoption has been limited by their intrusivity: implementing…