Concept

Structure de contrôle

Publications associées (29)

Experimental assessment of traffic density estimation at link and network level with sparse data

This paper investigates the accuracy of mean density estimation from direct sensing at link and network levels. Different calculation methods are compared depending on sensor type, probe vehicles or loop detectors, and availability to quantify the magnitud ...

TAYLOR & FRANCIS LTD2022

Review of control strategies for lower-limb exoskeletons to assist gait

Auke Ijspeert, Mohamed Bouri, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Admissibility of Uncertain Injections in Quadratic Algebraic Systems

Jean-Yves Le Boudec, Cong Wang, Eleni Stai

We study the admissibility problem in multivariate algebraic systems, such as ac electrical networks, where the power injection is quadratic in the state. The goal of such systems is to ensure that the state stays in some security set (e.g., magnitudes of ...

2021

Minimal mass design of active tensegrity structures

Yafeng Wang

Tensegrity structures have been widely utilized as lightweight structures due to their high stiffness-to-mass and strength-to-mass ratios. Minimal mass design of tensegrity structures subject to external loads and specific constraints (e.g., member yieldin ...

ELSEVIER SCI LTD2021

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Teguh Santoso Lembono

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

Jamie Paik, Andres San Millan Rodriguez, Mohssen Fischer

We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...

2021

A Catalyst Framework for Minimax Optimization

Negar Kiyavash

We introduce a generic two-loop scheme for smooth minimax optimization with strongly-convex-concave objectives. Our approach applies the accelerated proximal point framework (or Catalyst) to the associated dual problem and takes full advantage of existing ...

NEURAL INFORMATION PROCESSING SYSTEMS (NIPS)2020

SpecROP: Speculative Exploitation of ROP Chains

Mathias Josef Payer, Atri Bhattacharyya, Andrés Sánchez Marín

Speculative execution attacks, such as Spectre, reuse code from the victim’s binary to access and leak secret information during speculative execution. Every variant of the attack requires very particular code sequences, necessitating elaborate gadget-sear ...

2020

Adaptive Laser Welding Control: A Reinforcement Learning Approach

Giulio Masinelli, Silvio Zanoli

Despite extensive research efforts in the field of laser welding, the imperfect repeatability of the weld quality still represents an open topic. Indeed, the inherent complexity of the underlying physical phenomena prevents the implementation of an effecti ...

2020