Publications related to Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator

Related publications (25)

Data-Driven LPV Control for Harmonic Disturbance Rejection in a Hybrid Isolation Platform

A novel approach for linear parameter-varying (LPV) controller synthesis for adaptive rejection of frequency-varying sinusoidal disturbances is proposed. Only the frequency response data of a linear time-invariant (LTI) multiple-input-multiple-output (MIMO ...

2025

Data-Driven Methods for Controller Design in Atomic Force Microscopy

Navid Asmari Saadabad

Ever since the advent of Atomic Force Microscope (AFM) the community of its users is expanding which led to a broad spectrum of applications. Most of these applications require AFM instruments with fast, accurate, and reliable performance. The sensors and ...

EPFL2024

Laser-based manufacturing of freeform glass micro-optics through topological transformation

Samuel Youcef Benketaf

Glass has been the material of choice for making optical elements, in large part due to its intrinsic properties: a temperature-dependent viscosity, which enables shaping the material into a broad variety of functional and artistic glassware. Silica glass ...

EPFL2024

Online Feedback Optimization over Networks: A Distributed Model-free Approach

Wenbin Wang

Online feedback optimization (OFO) enables optimal steady-state operations of a physical system by employing an iterative optimization algorithm as a dynamic feedback controller. When the plant consists of several interconnected subsystems, centralized imp ...

IEEE2024

Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension

David Rodriguez Martinez

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances ...

2024

Overview of the TCV tokamak experimental programme

Olivier Sauter, Ambrogio Fasoli, Basil Duval, Henri Weisen, Timothy Goodman, Yves Martin, Stefano Alberti, Duccio Testa, Jean-Marc Moret, Ivo Furno, Patrick Blanchard, Benoît Labit, Jan Horacek, Paolo Ricci, Jean-Philippe Hogge, Jonathan Graves, Stephan Brunner, Holger Reimerdes, Laurie Porte, Christian Gabriel Theiler, Federico Alberto Alfredo Felici, Alexander Karpushov, Joaquim Loizu Cisquella, Antoine Pierre Emmanuel Alexis Merle, Umar Sheikh, Xavier Llobet, Matteo Fontana, Simon Van Mulders, Alessandro Pau, Yanis Andrebe, Cristian Galperti, Joan Decker, Marcelo Baquero Ruiz, Cedric Kar-Wai Tsui, Mengdi Kong, Matteo Vallar, Olivier Claude Martin Février, Davide Galassi, Guang-Yu Sun, Pedro Andres Molina Cabrera, Filippo Bagnato, Roberto Maurizio, Oulfa Chellaï, Mirko Wensing, Claudia Colandrea, Curdin Tobias Wüthrich, Sophie Danielle Angelica Gorno, Francesco Carpanese, Nicola Offeddu, Aylwin Iantchenko, Maurizio Giacomin, Lorenzo Martinelli, Oleg Krutkin, Dahye Choi, Federico Pesamosca, Hugo Antoine Georges Arnichand, Dmytry Mykytchuk, Benjamin Alexandre Vincent, Umesh Kumar, Arsène Stéphane Tema Biwole, Lorenzo Stipani, Anna Ngoc Minh Trang Vu, Jean Arthur Cazabonne, Stefano Marchioni, Miguel Filipe Silva Füglister, Renat Karimov, Ajay Chandrarajan Jayalekshmi

The tokamak a configuration variable (TCV) continues to leverage its unique shaping capabilities, flexible heating systems and modern control system to address critical issues in preparation for ITER and a fusion power plant. For the 2019-20 campaign its c ...

IOP Publishing Ltd2022

Multiobjective Vector Modulation for Improved Control of NPC-Based Multi-Source Inverters in Hybrid Traction Systems

Andrea Cervone

The concept of a multi-source inverter (MSI) based on NPC topology was recently introduced for hybrid-electric powertrains to connect several dc sources to the traction load in a single conversion stage without magnetics. This work proposes a new modulatio ...

2022

An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators

Mohamed Bouri

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to re ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Application of UV absorbance and electron-donating capacity as surrogates for micropollutant abatement during full-scale ozonation of secondary-treated wastewater

Urs von Gunten

Ozonation of secondary-treated wastewater for the abatement of micropollutants requires a reliable control of ozone doses. Changes in the UV absorbance of dissolved organic matter (DOM) during ozonation allow to estimate micropollutant abatement on-line an ...

PERGAMON-ELSEVIER SCIENCE LTD2022

Design of multi-stimuli responsive hybrid pneumatic-magnetic soft actuator with novel channel integration

Yi Sun

Smart polymeric materials based soft actuators are flexible, lightweight, and can deliver a wide range of actu-ations. Thus, they are ideal for applications requiring delicate and unconventional motions, such as biomedical and soft robotics. This paper rep ...

2022

Wireless closed-loop optogenetics across the entire dorsoventral spinal cord in mice

Stéphanie Lacour, Grégoire Courtine, Quentin Barraud, Ileana Ozana Jelescu, Léonie Asboth, Ivan Furfaro, Claudia Kathe, Kyungjin Kim, Frédéric Pierre Gérald Michoud, Valentina Marie Paggi, Thomas Haynes Hutson, Jimmy James Ravier, Jérôme Gandar, Andreas Rowald, Noaf Salah Ali Alwahab

Optoelectronic systems can exert precise control over targeted neurons and pathways throughout the brain in untethered animals, but similar technologies for the spinal cord are not well established. In the present study, we describe a system for ultrafast, ...

NATURE PORTFOLIO2022

Mems Shutter Based Variable Optical Attenuator Integrated With Large Core Multimode Rectangular Waveguides

Niels Quack, Hamed Sattari, Gergely Huszka, Anton Lagosh

We present the concept and design, and we report on the experimental performance of a broadband Variable Optical Attenuator (VOA) for integration with large-core rectangular multimode waveguides. Operation of an individual 221 mu m x 111 mu m optical waveg ...

IEEE2021

Controlling the rotation of drift tearing modes by biased electrode in ADITYA-U tokamak

Harshita Raj

The influence of background plasma poloidal rotation on the rotation frequency of the m/n = 2/1 drift tearing mode (DTM) has been studied in ADITYA-U tokamak. The poloidal rotation velocity of the background plasma in the ion diamagnetic direction is incre ...

2021

Medium Voltage Impedance and Admittance Measurement and System Identification Techniques

Marko Petkovic

The recent trend of an increasing share of renewable energy sources in modern power systems, as well as the integration of power electronics equipment, is shaping the requirements for stable grid infrastructure. These requirements mainly come from the stab ...

EPFL2021

A Neural Network Architecture to Learn Explicit MPC Controllers from Data

Colin Neil Jones, Emilio Maddalena

We present a methodology to learn explicit Model Predictive Control (eMPC) laws from sample data points with tunable complexity. The learning process is cast in a special Neural Network setting where the coefficients of two linear layers and a parametric q ...

ELSEVIER2020

A design methodology for charge-balanced stimulators based on anodic current variation monitoring

Alexandre Schmid, Reza Ranjandish

Charge balancing is a major safety concern in neural and functional electrical stimulation. This paper presents a novel and safe active charge balancing design methodology in which, after each cathodic and anodic stimulation pulse, the value of the remaini ...

2019

Robust control for an electromagnetic actuator for a camless engine

Zlatina Kirilova Dimitrova

The increase of the effective efficiency of the internal combustion engines is important for the fuel consumption reduction and the CO2 emission reduction. The variable engine valve trains are important for the gas exchanges and influence directly the effe ...

PERGAMON-ELSEVIER SCIENCE LTD2019

Reliable and Robust Cyber-Physical Systems for Real-Time Control of Electric Grids

Wajeb Saab

Real-time control of electric grids is a novel approach to handling the increasing penetration of distributed and volatile energy generation brought about by renewables. Such control occurs in cyber-physical systems (CPSs), in which software agents maintai ...

EPFL2019

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Frequency-Domain Control Design in Power Systems

Christoph Manuel Kammer

The scope of this thesis encompasses two main subjects: fixed-structure data-driven control design on one side, and control design in power systems on the other. The overall goal is to identify challenging and relevant problems in power systems, to express ...

EPFL2018