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Concept

Système invariant

Publications associées (27)

Frequency domain data-driven robust and optimal control

Philippe Louis Schuchert

The goal of this thesis is to propose pragmatic solutions to real challenges faced in the industry. The scope of this thesis encompasses two subjects: frequency-based structured controller synthesis for linear time-invariant (LTI) systems on one side, and ...

EPFL2024

Data-driven IQC-Based Robust Control Design for Hybrid Micro-disturbance Isolation Platform

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

A novel approach for robust controller synthesis, which models uncertainty as an elliptical set, is proposed in the paper. Given a set of frequency response functions of linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems, the approac ...

IEEE2023

Achieving Optimal Performance With Data-Driven Frequency-Based Control Synthesis Methods

Alireza Karimi, Philippe Louis Schuchert

Frequency Response Function (FRF)-based control synthesis methods for Linear Time-Invariant (LTI) systems have been widely used in control theory and industry. Recently, there has been renewed interest in these methods, employing numerical optimization too ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Fast ion generation with ICRF waves and beams in the Wendelstein 7-X stellarator

Mike Machielsen

The largest operating stellarator, Wendelstein 7-X, is of the quasi-isodynamic type. For this design to scale up to a fusion reactor, several criteria must be met, one of them being good fast ion confinement. The latter still has to be tested experimentall ...

EPFL2023

The Sparsity of Cycle Spinning for Wavelet-Based Solutions of Linear Inverse Problems

Michaël Unser, Rahul Parhi

The usual explanation of the efficacy of wavelet-based methods hinges on the sparsity of many real-world objects in the wavelet domain. Yet, standard wavelet-shrinkage techniques for sparse reconstruction are not competitive in practice, one reason being t ...

IEEE Institute of Electrical and Electronics Engineers2023

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Giancarlo Ferrari Trecate, Luca Furieri, Clara Lucía Galimberti

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...

IEEE2022

General invariance and equilibrium conditions for lattice dynamics in 1D, 2D, and 3D materials

Nicola Marzari, Samuel Poncé, Changpeng Lin

The long-wavelength behavior of vibrational modes plays a central role in carrier transport, phonon-assisted optical properties, superconductivity, and thermomechanical and thermoelectric properties of materials. Here, we present general invariance and equ ...

NATURE PORTFOLIO2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Temporal Representation Learning on Monocular Videos for 3D Human Pose Estimation

Pascal Fua, Mathieu Salzmann, Helge Jochen Rhodin, Sina Honari, Victor Constantin

In this paper we propose an unsupervised feature extraction method to capture temporal information on monocular videos, where we detect and encode subject of interest in each frame and leverage contrastive self-supervised (CSS) learning to extract rich lat ...

2022

Approximating delta invariants in the sense of plt complements

Chuyu Zhou

We show that delta invariant of a log Fano pair can be approximated by lc places of plt complements if it is no greater than one. Under the assumption that delta invariant (no greater than one) of a log Fano pair can be approximated by lc places of bounded ...

2022

Shortest-support multi-spline bases for generalized sampling

Michaël Unser, Shayan Aziznejad, Alexis Marie Frederic Goujon

Generalized sampling consists in the recovery of a function f, from the samples of the responses of a collection of linear shift-invariant systems to the input f . The reconstructed function is typically a member of a finitely generated integer-shift invar ...

2021

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Electromagnetic waves under nonstationary conditions, the connection with parity-time symmetry and studies on resonant systems

Theodoros Koutserimpas

In this thesis, the electromagnetic wave propagation is studied in nonstationary-medium scenarios. The electromagnetic fields under material time-modulation are shown to conserve their momentum but not their energy. The mathematical foundations and analysi ...

EPFL2021

Unsupervised Domain Adaptation for Cross-Subject Few-Shot Neurological Symptom Detection

Mahsa Shoaran, Bingzhao Zhu

Modern machine learning tools have shown promise in detecting symptoms of neurological disorders. However, current approaches typically train a unique classifier for each subject. This subject-specific training scheme requires long labeled recordings from ...

IEEE2021

A Note on BIBO Stability

Michaël Unser

The statements on the BIBO stability of continuoustime convolution systems found in engineering textbooks are often either too vague (because of lack of hypotheses) or mathematically incorrect. What is more troubling is that they usually exclude the identi ...

2020

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

IEEE2020

Nonreciprocity in Uniform Time-Varying Materials Using Spatial Dispersion

Xiaoqiang Wang, Mohammad Sajjad Mirmoosa

Conventionally, nonreciprocity in time-varying systems is achieved by exploiting both temporal and spatial modulations. In this paper, we introduce a concept of magnetless bianisotropic time-modulated systems that support nonreciprocal wave propagation at ...

IEEE2020

Arbitrarily high time bandwidth performance in a nonreciprocal optical resonator with broken time invariance

Camille Sophie Brès, Hatice Altug, Davide Grassani, Simon Julien Fabbri, Kosmas Tsakmakidis, Ivan Cardea

Most present-day resonant systems, throughout physics and engineering, are characterized by a strict time-reversal symmetry between the rates of energy coupled in and out of the system, which leads to a trade-off between how long a wave can be stored in th ...

Nature Research2020

Distributed state estimation for discrete-time linear time invariant systems: A survey

Colin Neil Jones, Francisco Fernandes Castro Rego

Motivated by the increasing availability and quality of miniaturized sensors, computers, and wireless communication devices arid given their enormous potential, the use of wireless sensor networks (WSN) has become widespread. Because in many applications o ...

2019