Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

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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 ...

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 ...

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 ...

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 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 ...

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 ...

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 ...

In this paper, we present the first results of a systematically designed multi-input multi-output gas-injection controller on Tokamak a Configuration Variable (TCV). We demonstrate the simultaneous real-time control of the NII emission front position and l ...

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

Recent developments in soft actuation demand for resilient, responsive materials with locally varying compositions that are sufficiently stiff to exhibit significant actuation forces. Hydrogels are inherently responsive to certain stimuli. Yet, they typica ...

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

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 ...

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

We study the spontaneous out-of-plane bending of a planar untwisted ribbon composed of nematic polymer networks activated by a change in temperature. Our theory accounts for both stretching and bending energies, which compete to establish equilibrium. We s ...

The progress towards intelligent systems and digitalization relies heavily on the use of automation technology. However, the growing diversity of control objects presents significant challenges for traditional control approaches, as they are highly depende ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

This paper reports on the development of a brief scenario-based challenge to prompt engineering students’ reflection about the broader impacts of their design decisions, and thereby increase their ethical sensitivity and motivation. The game scenario asks ...

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

During the last two decades, ultrafast in-volume laser-based processing of transparent materials has emerged as a key 3D-printing method for manufacturing a variety of complex integrated photonic devices and micro-parts. Yet, identifying suitable laser pro ...

Visual perception is indispensable for many real-world applications. However, perception models deployed in the real world will encounter numerous and unpredictable distribution shifts, for example, changes in geographic locations, motion blur, and adverse ...

Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

Chattez avec Graph Search

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

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

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

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

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

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

Stability: a search for structure

Systematic design of a multi-input multi-output controller by model-based decoupling: a demonstration on TCV using multi-species gas injection

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

4D printing of Metal-Reinforced double network granular hydrogels

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

A geometric optimal control approach for imitation and generalization of manipulation skills

Bending and Stretching in a Narrow Ribbon of Nematic Polymer Networks

Data-driven Methods for Control: from Linear to Lifting

Learning and optimization of anticipatory feedback controllers for robot manipulation

DRONE GAME THAT HIGHLIGHTS ETHICAL AND SUSTAINABILITY IMPLICATIONS OF DESIGN DECISIONS

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Third-harmonic generation monitoring of femtosecond-laser-induced in-volume functional modifications

Making Computer Vision Models Robust and Adaptive