相关论文: Hybrid Tunable Magnet Actuator: Modeling and Desig…
Permanent magnet has a small and compact structure, is especially suitable for a narrow space. With the aid of soft iron, the magnetic field can be increased much more and the field uniformity can be well controlled. Most Permanent magnets…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
A permanent magnet assembly in which the flux density can be altered by a mechanical operation is often significantly smaller than comparable electromagnets and also requires no electrical power to operate. In this paper five permanent…
Well controlled and highly stable magnetic fields are desired for a wide range of applications in physical research, including quantum metrology, sensing, information processing, and simulation. Here we introduce a low-cost hybrid assembly…
The problem of designing a flux observer for magnetic field electromechanical systems from noise corrupted measurements of currents and voltages is addressed in this paper. Imposing a constraint on the systems magnetic energy function,…
In addition to high accuracy, robustness is becoming increasingly important for machine learning models in various applications. Recently, much research has been devoted to improving the model robustness by training with noise…
A common scientific inverse problem is the placement of magnets that produce a desired magnetic field inside a prescribed volume. This is a key component of stellarator design, and recently permanent magnets have been proposed as a…
Unmanned micro aerial vehicle research is an active area of development due to the vast potential applications. Prior work towards realizing flapping flight has achieved some success however they have relied heavily upon the use of rotary…
Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictive Control (MPC) formulation, where the goal is to find an…
The impact forces during switching operations of short-stroke actuators may cause bouncing, audible noise and mechanical wear. The application of soft-landing control strategies to these devices aims at minimizing the impact velocities of…
This paper presents a nonlinear control algorithm for speed control of a permanent magnet motor. The idea relies on a feedback linearization technique which also ensures adherence to current and voltage bounds. These bounds arise from…
Hybrid magnetic shields with both active field generating components and high-permeability magnetic shielding are increasingly needed for a variety of technologies and experiments that require precision-controlled magnetic field…
A modulated model predictive controller is designed for an inductor-less modular multilevel converter targeting an MVDC solid-state transformer application. The underlying optimization problem is formulated such that a unique closed-form…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Transformers have achieved remarkable success in sequence modeling and beyond but suffer from quadratic computational and memory complexities with respect to the length of the input sequence. Leveraging techniques include sparse and linear…
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied…
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…
We realize a device allowing for tunable and switchable coupling between two superconducting resonators mediated by an artificial atom. For the latter, we utilize a persistent current flux qubit. We characterize the tunable and switchable…