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Transformer-based models have significantly improved performance across a range of multimodal understanding tasks, such as visual question answering and action recognition. However, multimodal Transformers significantly suffer from a…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
This article introduces two control frameworks: one for Grid-Following (GFL) inverters aiding Grid-Forming (GFM) inverters in voltage regulation during large contingency events and optimizing power transactions under normal conditions; and…
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. This tracking technique admits theoretical performance…
Future power systems will include high shares of inverter-based generation. There is a general consensus that for allowing this transition, the Grid-Forming (GFM) control approach would be of great value. This article presents a GFM control…
Currently, one main research line in designing a more efficient vision transformer is reducing the computational cost of self attention modules by adopting sparse attention or using local attention windows. In contrast, we propose a…
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…
Leveraging unmanned aerial vehicle (UAV) is convenient to collect data from ground sensor. However, in the presence of unknown urban environment, the data collection is subject to the blockage of urban buildings. In this paper, considering…
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…
This paper presents a Model Predictive Control (MPC) scheme for flight scheduling and energy management of electric aviation networks, where electric aircraft transport passengers between electrified airports equipped with sustainable…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…
Modern machine learning (ML) training workloads place substantial demands on both computational and communication resources. Consequently, accurate performance estimation has become increasingly critical for guiding system design decisions,…
The small-signal impedance modeling of modular multilevel converter (MMC) is the key for analyzing resonance and stability of MMC-based ac power electronics systems. MMC is a converter system with a typical multi-frequency response due to…
Quantum optimal control can play a crucial role to realize a set of universal quantum logic gates with error rates below the threshold required for fault-tolerance. Open-loop quantum optimal control relies on accurate modeling of the…
Sampling-based approaches are widely used in systems without analytic models to estimate risk or find optimal control. However, gathering sufficient data in such scenarios can be prohibitively costly. On the other hand, in many situations,…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…
A model predictive control (MPC) method for enhancing post-fault transient stability of a grid-forming (GFM) inverter based resources (IBRs) is developed in this paper. This proposed controller is activated as soon as the converter enters…
This paper proposes a new single input multiple output power supply by integrating a flyback converter and several buck converters. The flyback converter works as the main regulator, and the buck converters provide series voltage…