相关论文: Hybrid Tunable Magnet Actuator: Modeling and Desig…

As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…

This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…

Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…

The characterization of an interior permanent magnet synchronous machine (IPMSM) requires numerical analysis of the nonlinear magnetic motor model in different load conditions. To obtain the case-specific best machine behavior, a strategy…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Ultra-thin magnetic tunnel junctions with low resistive MgO tunnel barriers are prepared to examine their stability under large current stress. The devices show magnetoresistance ratios of up to 110 % and an area resistance product of down…

For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…

This paper proposes an attack-independent (non-adversarial training) technique for improving adversarial robustness of neural network models, with minimal loss of standard accuracy. We suggest creating a neighborhood around each training…

Multiscale simulation is a key research tool for the quest for new permanent magnets. Starting with first principles methods, a sequence of simulation methods can be applied to calculate the maximum possible coercive field and expected…

Based on conventional H-bridge topologies of magnet power supplies, a high-frequency common-mode equivalent model was established. It is pointed out that the two phase legs have complementary effect of common-mode noise under bipolar PWM…

Planar electromagnetic actuators based on the principle of linear motors are widely employed for micro and nano positioning applications. These actuators usually employ a planar magnetic platform driven by a co-planar electromagnetic coil.…

This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

Tuning magnetic order in magnetic semiconductors is a long sought goal. A proper concentration of acceptors can dramatically suppress local magnetic order in favor of the long one. Using Mn and an acceptor codoped LiZnAs as an example, we…

This document contains two presentations which describe the working principles of a class of electrostatic multidimensional sensors and force actuators. The subject of the study is the search of the most effective methods for measuring the…

In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…

This work features the optimization of a Permanent Magnet Synchronous Motor using 2D nonlinear simulations in an Isogeometric Analysis framework. The rotor and stator designs are optimized for both geometric parameters and surface shapes…

This paper introduces an automatic control method designed to enhance the operation of electric vehicles, besides the speed tracking objectives, by including reliability and lifetime requirements. The research considers an automotive power…

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…

Accurate and robust positioning of rotor axle is essential for efficient and safe operation of high-speed rotational machines with active magnetic bearings. This study presents a cascaded nonlinear control strategy for vertical axial…

Hard magnetic materials belong to a novel class of soft active materials with the capability of quick, large, and complex deformation via applying an external actuation. They have an extensive range of potential applications in soft robots,…