相关论文: Dynamics of a Towed Cable with Sensor-Array for Un…

In this paper, we propose a new wireless sensing system equipped with the movable-antenna (MA) array, which can flexibly adjust the positions of antenna elements for improving the sensing performance over conventional antenna arrays with…

This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…

Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combinations of knots and multiple interwoven segments. Prior works…

We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…

This paper presents a novel wireless sensing system where a movable antenna (MA) continuously moves and receives sensing signals within a three-dimensional (3-D) region to enhance sensing performance compared with conventional…

In this paper, we consider a sensor placement problem where sensors can move within a network over time. Sensor placement problem aims to select K sensor positions from N candidates where K < N. Most existing methods assume that sensor…

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…

This paper proposes a data-driven approach to detect the switching actions and topology transitions in distribution networks. It is based on the real time analysis of time-series voltages measurements. The analysis approach draws on data…

Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the multiple aerial robots transportation system (MARTS) still lack…

Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…

The detection of underwater targets is severely affected by the non-uniform spatial characteristics of marine environmental noise. Additionally, the presence of both natural and anthropogenic acoustic sources, including shipping traffic,…

Detection of undersea threats is a complex problem of considerable importance for maritime regional surveillance and security. Multistatic sonar systems can provide a means to monitor for underwater threats, where fixed sensors, towed…

In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of…

In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…

Localizing moving targets in unknown harsh environments has always been a severe challenge. This letter investigates a novel localization system based on multi-agent networks, where multiple agents serve as mobile anchors broadcasting their…

Active sensing refers to the process of choosing or tuning a set of sensors in order to track an underlying system in an efficient and accurate way. In a wireless environment, among the several kinds of features extracted by traditional…

The focus of this paper is a key component of a methodology for understanding, interpolating, and predicting fish movement patterns based on spatiotemporal data recorded by spatially static acoustic receivers. Unlike GPS trackers which emit…

In many real-world scenarios, distribution shifts exist in the streaming data across time steps. Many complex sequential data can be effectively divided into distinct regimes that exhibit persistent dynamics. Discovering the shifted…

Flexible sensors hold promise for human motion capture (MoCap), offering advantages such as wearability, privacy preservation, and minimal constraints on natural movement. However, existing flexible sensor-based MoCap methods rely on deep…