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This paper addresses the problem of domain shifts in electric motor vibration data created by new operating conditions in testing scenarios, focusing on bearing fault detection and diagnosis (FDD). The proposed method combines the Harmonic…
Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…
Non-invasive electroencephalography (EEG)-based brain-computer interfaces (BCIs) offer an intuitive means for individuals with severe motor impairments to independently operate assistive robotic wheelchairs and navigate built environments.…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, provable safety, and socially aware behavior. Current…
Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind;…
To improve the driving mobility and energy efficiency of connected autonomous electrified vehicles, this paper presents an integrated longitudinal speed decision-making and energy efficiency control strategy. The proposed approach is a…
In this paper, a novel model-free wide-area damping control (WADC) method is proposed, which can achieve full decoupling of modes and damp multiple critical inter-area oscillations simultaneously using grid-connected voltage source…
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…
Different time-discretization methods for equivalent-control based sliding mode control (ECB-SMC) are presented. A new discrete-time sliding mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the…
How effective are recent advancements in autonomous vehicle perception systems when applied to real-world autonomous vehicle control? While numerous vision-based autonomous vehicle systems have been trained and evaluated in simulated…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
Optimal control of magnetizing current for minimizing induction motor power losses during load torque step change was developed. Obtained strategy has feedback form and is exactly optimal of ideal speed controller performance and absence of…
Position control devices enable precise selection, but significant clutching degrades performance. Clutching can be reduced with high control-display gain or pointer acceleration, but there are human and device limits. Elastic rate control…
This paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…
In this paper, An Improved Adaptive Sliding Mode Observer (ASMO) is proposed to a Sensorless DSFOC Induction Motor Drives and their stability is analyzed. ASMO is used to estimate the Rotor Speed, Rotor Resistance, Flux, Stator and Rotor…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
It is well-known that measuring the input voltage and current, as the feedforward and feedback terms, are vital for the controller design in the problem of power factor compensation of an AC-DC boost converter. Traditional adaptive…