Publications associées à Deployment and Shape Change of a Tensegrity Structure Using Path-Planning and Feedback Control

Publications associées (23)

Enhanced feedback performance in off-resonance AFM modes through pulse train sampling

Georg Fantner, Marcos Penedo Garcia, Santiago Harald Andany, Mustafa Kangül, Navid Asmari Saadabad

Dynamic atomic force microscopy (AFM) modes that operate at frequencies far away from the resonance frequency of the cantilever (off-resonance tapping (ORT) modes) can provide high-resolution imaging of a wide range of sample types, including biological sa ...

Beilstein-Institut2024

Learning to Boost the Performance of Stable Nonlinear Systems

Giancarlo Ferrari Trecate, Luca Furieri, Clara Lucía Galimberti

The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning algorithms. Howev ...

2024

Experimental data-driven model predictive control of a hospital HVAC system during regular use

Colin Neil Jones, Christophe Salzmann, Emilio Maddalena

Herein we report a multi-zone, heating, ventilation and air-conditioning (HVAC) control case study of an industrial plant responsible for cooling a hospital surgery center. The adopted approach to guaranteeing thermal comfort and reducing electrical energy ...

2022

Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Hakan Girgin, Julius Maximilian Jankowski

In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...

IEEE2021

A unified framework for walking and running of bipedal robots

Ludovic Righetti

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

2021

Improving sound absorption through nonlinear active electroacoustic resonators

Romain Christophe Rémy Fleury, Hervé Lissek, Xinxin Guo

Absorbing airborne noise at frequencies below 300 Hz is a particularly vexing problem due to the absence of natural sound absorbing materials at these frequencies. The prevailing solution for low-frequency sound absorption is the use of passive narrow-band ...

American Physical Society (APS)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

Robust control of systems with sector nonlinearities via convex optimization: A data-driven approach

Alireza Karimi, Achille Nicoletti

In this paper, a new data-driven method for designing robust controllers is proposed for systemswith sector-bounded nonlinearities and multimodel uncertainties. The results from the circle criterion are used to generate necessary and sufficient convex cons ...

WILEY2019

Use of model predictive control for short-term operating reserve using commercial buildings in the United Kingdom context

Colin Neil Jones

Flexibility, particularly in terms of reserve services, is an essential requirement of power systems with high penetration of renewable electrical generation, which can reduce undesirable curtailment and enable higher integration of clean electrical power ...

IEEE2018

Advances in High-Speed Atomic Force Microscopy

Adrian Pascal Nievergelt

High-speed atomic force microscopy (HS-AFM) is a scanning probe technique capable of recording processes at the nanometre scale in real time. By sequentially increasing the speed of individual microscope components, images of surfaces can be recorded at up ...

EPFL2018

Digitally controlled analog proportional-integral-derivative (PID) controller for high-speed scanning probe microscopy

Georg Fantner, Adrian Pascal Nievergelt, Nahid Hosseini, Santiago Harald Andany, Maja Dukic Pjanic, Chen Yang

Nearly all scanning probe microscopes (SPMs) contain a feedback controller, which is used to move the scanner in the direction of the z-axis in order to maintain a constant setpoint based on the tip-sample interaction. The most frequently used feedback con ...

2017

Design of a Fixed-Order Robust Controller Using Loop Shaping Method for Damping Inter-Area Oscillations in Power Systems

Alireza Karimi

The inter-area oscillations are common in power system and can occur due to the changes in the load or generation power especially in long transmission lines. This paper presents the design of a robust fixed-order loop shaping controller to damp out the in ...

Ieee2016

Open-loop control of a separated boundary layer

François Gallaire, Edouard Boujo

Linear optimal gains

G_opt(\omega)

are computed for the separated boundary-layer flow past a two-dimensional bump in the subcritical regime. Very large values are found, making it possible for small-amplitude noise to be strongly amplified and to destabi ...

Cépaduès Editions2013

Quotient-method Algorithms for Input-affine Single-input Nonlinear Systems

Willson Sudarsandhari Shibani

Many real-world systems are intrinsically nonlinear. This thesis proposes various algorithms for designing control laws for input-affine single-input nonlinear systems. These algorithms, which are based on the concept of quotients used in nonlinear control ...

EPFL2012

A 9 pW/Hz Adjustable Clock Generator with 3-Decade Tuning Range for Dynamic Power Management in Subthreshold SCL Systems

Yusuf Leblebici, Seyed Armin Tajalli

A widely-tunable and power-scalable clock generator for ultra-low power (ULP) applications is presented. Benefitting from a novel self-adjustable loop frequency response, the proposed phase-locked loop based clock generator exhibits a tuning range of three ...

2010

Neighboring-Extremal Control for Singular Dynamic Optimization Problems. II- Multiple-Input Systems

Dominique Bonvin, Benoît Chachuat, Sébastien Gros

Dynamic optimization provides a unified framework for improving process operations while taking operational constraints into account. In the presence of uncertainty, measurements can be incorporated into the optimization framework for tracking the optimum. ...

2009

Neighboring extremals in optimization and control

Sébastien Gros

Optimization arises naturally when process performance needs improvement. This is often the case in industry because of competition – the product has to be proposed at the lowest possible cost. From the point of view of control, optimization consists in de ...

EPFL2007

Optimization of sensor signals for resistive wall mode control in ITER

Jonathan Bryan Lister

Active control of the resistive wall mode has been considered as an alternative way, besides passive control by plasma rotation, to stabilize the mode in advanced scenarios in ITER. We show that a significant improvement of the feedback system is achievabl ...

IOP Publishing Ltd2007

Dynamics of torque control continuously variable transmissions

Robert Fuchs

With the increasing concerns in the impact of automotive emissions of CO2 and NOx on the environment combined with today's speculation on oil crude supply, the need to find solutions reducing the fuel consumption and emission of tomorrow's cars is more tha ...

EPFL2006