相关论文: Control-oriented Modeling of Bend Propagation in a…
Polymer-based plastics exhibit time-dependent deformation under constant stress, known as creep, which can lead to rupture or static fatigue. A common misconception is that materials under tolerable static loads remain unaffected over time.…
Most galaxies have a warped shape when they are seen from an edge-on point of view. The reason for this curious form is not completely known so far and in this work we apply dynamical system tools to contribute to its explanation. Starting…
Hand orientation is an essential feature required to understand hand behaviors and subsequently support human activities. In this paper, we present a new method for estimating hand orientation in probability density form. It can solve the…
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where…
We study the problem of model predictive control (MPC) for the fish schooling model proposed by Gautrais et al. (Annales Zoologici Fennici, 2008). The high nonlinearity of the model attributed to its attraction/alignment/repulsion law…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
This paper presents a statistical modeling approach of the real-life user-induced randomness due to mobile phone orientations for different phone usage types. As well-known, the radiated performance of a wireless device depends on its…
Many systems with propagation dynamics, such as spike propagation in neural networks and spreading of infectious diseases, can be approximated by autoregressive models. The estimation of model parameters can be complicated by the…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
The onset of pulse propagation is studied in a reaction-diffusion (RD) model with control by augmented transmission capability that is provided either along nonlocal spatial coupling or by time-delayed feedback. We show that traveling…
We show that a signal can propagate in a particular direction through a model random medium regardless of the precise state of the medium. As a prototype, we consider a point particle moving on a one-dimensional lattice whose sites are…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
In this letter, we propose a reduced-order model to bridge the particle transport mechanics and the macroscopic fluid dynamics in the highly scattered regime. A rigorous mathematical derivation and a concise physical interpretation are…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. However, automating them, e.g., for high-throughput applications, does rarely involve…
The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…
The fluid dynamics of liquid droplet impact on surfaces hold significant relevance to various industrial applications. However, high impact velocities introduce compressible effects, leading to material erosion. A gap in understanding and…
We study the two-dimensional motion of a self-propelling asymmetric bent rod. By employing slender body theory and the Lorentz reciprocal theorem, we determine particle trajectories for different geometric configurations and arbitrary…
We study reduced-order models of three-dimensional perturbations in linearized channel flow using balanced proper orthogonal decomposition (BPOD). The models are obtained from three-dimensional simulations in physical space as opposed to…