Dedicated controller design for a dual-stage opto-mechatronic system

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Plasma shape control is a fundamental tool for effective tokamak operation, allowing improved plasma performance and the pursuit of challenging scientific objectives. In this framework, the Tokamak á Configuration Variable (TCV) of the École Polytechnique ...

In preparation for error field (EF) identification experiments in ITER, a series of experiments have been conducted at JET to test the portability of the non-disruptive compass scan, a method originally designed and tested in DIII-D (Paz-Soldan et al 2022 ...

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 ...

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 ...

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 ...

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 ...

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must ...

The work presented in this thesis lies at the intersection of Machine Learning (ML) and control theory. The first part is dedicated to the design of Deep Neural Network (DNN) architectures with specific numerical properties, inspired by dynamical systems m ...

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 ...

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 ...

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 ...

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 ...

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 ...

The control of movement and orientation of gas-phase molecules has become the focus of many research areas in molecular physics. Here, ND3 molecules are polarized in a segmented, curved electrostatic guide and adiabatically aligned inside a rotatable mass ...

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 ...

Macroscopic fundamental diagrams (MFDs) have been widely adopted to model the traffic flow of large-scale urban networks. Coupling perimeter control and regional route guidance (PCRG) is a promising strategy to decrease congestion heterogeneity and reduce ...

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 ...

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 ...

Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...

The modern world is heavily reliant on electromagnetic devices to convert mechanical energy into electrical energy and vice versa. These devices are fundamental to powering our society, and the growing need for automated production lines and electrified tr ...

Dedicated controller design for a dual-stage opto-mechatronic system

Chattez avec Graph Search

Design and implementation of a model-based hierarchical architecture for plasma shape control in the TCV tokamak

Lessons Learned Executing the Non-disruptive Compass Scan Method at Jet Towards Error Field Identification Experiments in Iter

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

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

Educational Soft Underwater Robot with an Electromagnetic Actuation

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

Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation

Navigating the Loop: From Control Systems to Neural Networks and Back

Accurate and agile flight with winged drones

Stability: a search for structure

Frequency domain data-driven robust and optimal control

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

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

Alignment of ND3 molecules in dc-electric fields

High energy-density electrostatic actuators for soft robotics

An Iterative Adaptive Dynamic Programming Approach for Macroscopic Fundamental Diagram-Based Perimeter Control and Route Guidance

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

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

A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control

Computational design and additive manufacturing of electromagnetic coils