相关论文: Enhancing Field-Oriented Control of Electric Drive…

Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard computing power and nonlinear dynamics. Model Predictive Control…

We present a modular, production-ready approach that integrates compact Neural Network (NN) into a Kalmanfilter-based Multi-Object Tracking (MOT) pipeline. We design three tiny task-specific networks to retain modularity, interpretability…

The success of deep learning sparked interest in whether the brain learns by using similar techniques for assigning credit to each synaptic weight for its contribution to the network output. However, the majority of current attempts at…

Traditional Feed-Forward Neural Networks (FFNN) and one-dimensional Convolutional Neural Networks (1D CNN) often encounter difficulties when dealing with long, columnar datasets that contain numerous features. The challenge arises from two…

Tiny machine learning (TinyML), executing AI workloads on resource and power strictly restricted systems, is an important and challenging topic. This brief firstly presents an extremely tiny backbone to construct high efficiency CNN models…

We study learning based controllers as a replacement for model predictive controllers (MPC) for the control of autonomous vehicles. We concentrate for the experiments on the simple yet representative bicycle model. We compare training by…

Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…

This paper proposes a practical startup strategy for current source inverter (CSI)-fed Permanent Magnet Synchronous Motor (PMSM) drives in submersible pump applications, focusing on ensuring a seamless shift to sensorless field-oriented…

Examples of embedded intelligence include a wide variety of tiny neural networks used on-board wireless sensors and actuators, which are expected to continuously perform inference on time-series of the data they sense. In order to fit…

Tiny machine learning (TinyML) is a rapidly growing field aiming to democratize machine learning (ML) for resource-constrained microcontrollers (MCUs). Given the pervasiveness of these tiny devices, it is inherent to ask whether TinyML…

Mean-field control (MFC) offers a scalable solution to the curse of dimensionality in multi-agent systems but traditionally hinges on the restrictive assumption of exchangeability via dense, all-to-all interactions. In this work, we bridge…

We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…

A model predictive control (MPC) scheme for a permanent-magnet synchronous motor (PMSM) is presented. The torque controller optimizes a quadratic cost consisting of control error and machine losses repeatedly, accounting the voltage and…

Rotary motors, such as hybrid stepper motors (HSMs), are widely used in industries varying from printing applications to robotics. The increasing need for productivity and efficiency without increasing the manufacturing costs calls for…

The trend of future communication systems is to aim for the steering and control of cyber physical systems. These systems can quickly become congested in environments like those presented in Industry 4.0. In these scenarios, a plethora of…

Larger Spiking Neural Network (SNN) models are typically favorable as they can offer higher accuracy. However, employing such models on the resource- and energy-constrained embedded platforms is inefficient. Towards this, we present a…

Cross-subject motor imagery (CS-MI) classification in brain-computer interfaces (BCIs) is a challenging task due to the significant variability in Electroencephalography (EEG) patterns across different individuals. This variability often…

This paper proposes a new sampling-based kinodynamic motion planning algorithm, called FMT*PFF, for nonlinear systems. It exploits the novel idea of dimensionality reduction using partial-final-state-free (PFF) optimal controllers.With the…

The success of deep learning ignited interest in whether the brain learns hierarchical representations using gradient-based learning. However, current biologically plausible methods for gradient-based credit assignment in deep neural…

Transportation is a major contributor to CO2 emissions, making it essential to optimize traffic networks to reduce energy-related emissions. This paper presents a novel approach to traffic network control using Differentiable Predictive…