Publications related to Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology

Related publications (31)

Educational Soft Underwater Robot with an Electromagnetic Actuation

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Mary Ann Liebert, Inc2024

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Wenjie Xu

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Alireza Karimi, Mert Eyuboglu

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Accurate and agile flight with winged drones

Valentin Wüest

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

Advanced control strategies to exploit the hydropower potential enhancing ancillary services provision to the power system

Francesco Gerini

The European Union's Green Deal aims for a 55% reduction in greenhouse gas emissions by 2030. To reach this goal, a massive integration of Renewable Energy Sources (RES) into the power grid is necessary. As RES become a large part of the electricity genera ...

EPFL2024

Stability Analysis of Input-Series/Output-Parallel Solid-State Transformers Equipped with Second-Order Harmonic Active Power Filters

Drazen Dujic, Andrea Cervone, Tianyu Wei

Solid-State Transformers with Input-Series/Output-Parallel configuration offer a convenient solution for AC/DC conversion due to their scalability and modularity. In this configuration, each module experiences a second-order harmonic ripple caused by local ...

2024

A Tunable Self-Offloading Module for Plantar Pressure Regulation in Diabetic Patients

Yves Perriard, Yoan René Cyrille Civet, Paolo Germano, Christian Köchli, Sofia Lydia Ntella, Bhawnath Tiwari, Kenny Jeanmonod

Plantar pressure plays a crucial role in the pathogenesis of foot ulcers among patients with diabetes and peripheral polyneuropathy. Pressure relief is a key requirement for both the prevention and treatment of plantar ulcers. Conventional medical practice ...

2024

Permanently magnetized elastomer rotating actuator using traveling waves

Herbert Shea, Jean-Baptiste Chossat

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Aman Sharma, Gabriel François Laupré

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Alireza Karimi, Nathan Russell Powell, Mert Eyuboglu

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

2024

Stability: a search for structure

Wouter Jongeneel

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

EPFL2024

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

Unified Harmonic Power-Flow and Stability Analysis of Power Grids with Converter-Interfaced Distributed Energy Resources

Johanna Kristin Maria Becker

Modern power distribution systems are experiencing a large-scale integration of Converter-Interfaced Distributed Energy Resources (CIDERs). Their presence complicates the analysis and mitigation of harmonics, whose creation and propagation may be amplified ...

EPFL2024

Performance and accuracy of cross‐section tracking methods for hydromorphological habitat assessment in wadable rivers with sparse canopy conditions

Giovanni De Cesare, Paolo Perona, Robin Schroff

This article investigates the performance and accuracy of continuous Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) position tracking for hydromorphological surveys, based on a comprehensive river restoration monitoring campaign. The a ...

2024

High energy-density electrostatic actuators for soft robotics

Sylvain Thomas Schaller

This thesis reports high energy-density electrostatic actuators for use in soft robotics. This thesis has two main parts: a) a detailed study of electro-adhesion using microfabricated electrodes, and b) a flexi-ble fiber-shaped linear motor. Electro-adhesi ...

EPFL2024

A Cavity-Microscope for Quantum Simulations with Locally-Controllable All-to-All Interactions

Nick Jacob Sauerwein

This thesis presents the development, construction, and benchmark of an experimental platform that combines cold fermionic 6Li atoms with locally controllable light-matter interactions. To enable local control, a new device, the cavity-microscope, was crea ...

EPFL2024

Ripple Voltage and Loss Reduction of Single-Phase ISOP SST by Eliminating the Second Harmonic Current in LLC Converters

Drazen Dujic, Andrea Cervone, Tianyu Wei

In two-stage solid-state transformers with input-series output-parallel structure, the LLC converter operating at a fixed switching frequency is a common choice for the isolated DC/DC conversion stage because it can provide a high efficiency and a fixed vo ...

2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023