相关论文: "Passive Mechanical Realizations of Bicubic Impeda…

Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…

Truss optimization is a rich research field receiving renewed interest in limiting the carbon emissions of construction. However, a persistent challenge has been to construct highly optimized and often complex designs. This contribution…

We consider the set of bimodal linear systems consisting of two linear dynamics acting on each side of a given hyperplane, assuming continuity along the separating hyperplane. Focusing on the unobservable planar ones, we obtain a simple…

In the supplemental materials we justify our choice of the number of Chebychev moments used within the kernel polynomial method, show some preliminary results for the large coupling behavior, discuss possible correlation effects in the…

The idea of replacing an edgy perfectly conducting boundary by the corresponding interface filled with a dielectric material of extreme complex permittivities, is examined in the present work. A semi-analytical solution to the corresponding…

In-circuit impedance measurement provides useful information for many EMC applications. The inductive coupling approach is a promising in-circuit impedance measurement method due to its non-contact characteristics and simple on-site…

Summarizes recent work on the wakefields and impedances of flat, metallic plates with small corrugations

This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…

Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…

Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…

This manuscript contains technical details of recent results developed by the authors on adaptive model predictive control for constrained linear, time varying systems.

Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external…

In this note we extend previous work on efficiency corrections for cumulant measurements [1,2]. We will discuss the limitations of the methods presented in these papers. Specifically we will consider multiplicity dependent efficiencies as…

Eight different refinements of trapped surfaces are proposed, of three basic types, each intended as potential stability conditions. Minimal trapped surfaces are strictly minimal with respect to the dual expansion vector. Outer trapped…

Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

Measurements and design equations for a two section impedance transforming hybrid suitable for MMIC applications and a new method of synthesis for multisection branch-line hybrids are reported. The synthesis method allows the response to be…

We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…

This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…

Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…