相关论文: On Improved Commutation for Moving-Magnet Planar A…
Dynamic metasurface antennas (DMAs) are a promising embodiment of next-generation reconfigurable antenna technology to realize base stations and access points with reduced cost and power consumption. A DMA is a thin structure patterned on…
Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…
Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, it makes…
In the development of wireless communication technology, multiple-input multiple-output (MIMO) technology has emerged as a key enabler, significantly enhancing the capacity of communication systems. However, traditional MIMO systems, which…
This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics.…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
The effective utilization of unlicensed spectrum is regarded as an important direction to enable the massive access and broad coverage for next-generation wireless local area network (WLAN). Due to the crowded spectrum occupancy and dense…
In this paper, we propose a new six-dimensional (6D) movable antenna (6DMA) system for future wireless networks to improve the communication performance. Unlike the traditional fixed-position antenna (FPA) and existing fluid…
Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical…
In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
Massive multiple-input multiple-output (MIMO) systems exploit the spatial diversity achieved with an array of many antennas to perform spatial multiplexing of many users. Similar performance can be achieved using fewer antennas if movable…
Movable antenna (MA), which can flexibly change the position of antenna in three-dimensional (3D) continuous space, is an emerging technology for achieving full spatial performance gains. In this paper, a prototype of MA communication…
Movable antenna (MA) has demonstrated great potential in enhancing wireless communication performance. In this paper, we investigate an MA-enabled multiple-input multiple-output (MIMO) communication system with spatial modulation (SM),…
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
Movable antenna (MA) technology provides a promising avenue for actively shaping wireless channels through dynamic antenna positioning, thereby enabling electromagnetic radiation reconstruction to enhance physical layer security (PLS).…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…