相关论文: Toward a High Performance IPMC Soft Actuator using…
Inverter-based resources (IBR) have been widely studied for their advantages on the current power systems. This increase in the penetration of renewable energy has raised some concerns about the stability of the existing grid. Historically,…
This paper introduces a learning-based control framework for a soft robotic actuator system designed to modulate intracranial pressure (ICP) waveforms, which is essential for studying cerebrospinal fluid dynamics and pathological processes…
Passivity-based control (PBC) for port-Hamiltonian systems provides an intuitive way of achieving stabilization by rendering a system passive with respect to a desired storage function. However, in most instances the control law is obtained…
While in a triggered experiment the matching of the RPC transmission line impedance with the one of the front-end electronics is less critical, for a trigger-less data recording this becomes mandatory. As expected, impedance matching is not…
We investigate the effect of an applied electric potential on the mechanics of a coarse grained POPC bilayer under tension. The size and duration of our simulations allow for a detailed and accurate study of the fluctuations. Effects on the…
The phase-locked loop (PLL) used in the doubly fed induction generator (DFIG) can cause frequency coupling phenomena, which will give negative resistance characteristics ofthe DFIG at low frequency, resulting in stability issues under weak…
This paper proposes an ultrasonic backscatter communication (UsBC) system for passive implantable medical devices (IMDs) that can operate without batteries, enabling versatile revolutionary applications for future healthcare. The proposed…
We present Brownian dynamics simulation results of a flexible linear polymer with excluded-volume interactions under shear flow in the presence of active noise. The active noise strongly affects the polymer's conformational and dynamical…
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control…
Matrix pair beamformer (MPB) is a promising blind beamformer which exploits the temporal signature of the signal of interest (SOI) to acquire its spatial statistical information. It does not need any knowledge of directional information or…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
A well-known challenge in beamforming is how to optimally utilize the degrees of freedom (DoF) of the array to design a robust beamformer, especially when the array DoF is limited. In this paper, we leverage the tool of constrained convex…
Inverse electromagnetic design has emerged as a way of efficiently designing active and passive electromagnetic devices. This maturing strategy involves optimizing the shape or topology of a device in order to improve a figure of merit--a…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…
An approximate approach to quantum vibrational dynamics, "Brownian Chain Molecular Dynamics (BCMD)", is proposed to alleviate the chain resonance and curvature problems in the imaginary time-based path integral (PI) simulation. Here the…
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…
We report a new implementation of multireference algebraic diagrammatic construction theory (MR-ADC) for simulations of electron attachment and ionization in strongly correlated molecular systems (EA/IP-MR-ADC). Following our recent work on…
Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a well-established stabilization technique for affine nonlinear systems. However, its application is generally hindered by the requirement of solving a set of…
We present a formulation of the Constrained Path Monte Carlo (CPMC) method for fermions that uses trial wave-functions that include many-body effects. This new formulation allows us to implement a whole family of generalized mean-field…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…