Publication

Functional Modeling and Energetic Macroscopic Representation of Modular Multilevel Converters

Publications associées (30)

Medium Voltage Impedance and Admittance Measurement and System Identification Techniques

The recent trend of an increasing share of renewable energy sources in modern power systems, as well as the integration of power electronics equipment, is shaping the requirements for stable grid infrastructure. These requirements mainly come from the stab ...

EPFL2021

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

Sylvain Calinon, Rohan Budhiraja, 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 modular functional framework for the design and evaluation of multi-robot navigation

Alcherio Martinoli, Cyrill Silvan Baumann

In this work, we address the design of tightly integrated control, estimation, and allocation algorithms allowing a group of robots to move collectively. For doing so, we leverage a modular framework that allows us to define precisely the needed functional ...

Elsevier2021

Experimental Validation of the Real-Time Control of an Electric-Vehicle Charging Station

Jean-Yves Le Boudec, Mario Paolone, Sherif Alaa Salaheldin Fahmy, Roman Rudnik

The high penetration of electric vehicles (EVs) charging stations (CSs), together with the progressive availability of distributed energy resources, increases the risk of grid overloading and power-quality degradation. Real-time control has been advocated ...

IEEE2021

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

Jamie Paik, Andres San Millan Rodriguez

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

Security-aware Routing and Scheduling for Control Applications on Ethernet TSN Networks

Amir Aminifar

Today, it is common knowledge in the cyber-physical systems domain that the tight interaction between the cyber and physical elements provides the possibility of substantially improving the performance of these systems that is otherwise impossible. On the ...

ASSOC COMPUTING MACHINERY2020

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

EPFL2020

Improving sound absorption through nonlinear active electroacoustic resonators

Hervé Lissek, Romain Christophe Rémy Fleury, 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

Additives: Their Influence on the Humidity- and Pressure-Induced Crystallization of Amorphous CaCO3

Camelia Borca, Alan Böhlen, Huachuan Du, Esther Amstad, Mathias Steinacher, Clémence Courrégelongue

Nature possesses a unique control over the formation of CaCO3 crystals that imparts fascinating mechanical properties to many CaCO3-based biomaterials. This high level of control is, at least in part, achieved through the use of certain soluble additives t ...

AMER CHEMICAL SOC2020

Kernel methods and Model predictive approaches for Learning and Control

Sanket Sanjay Diwale

Data-driven modeling and feedback control play a vital role in several application areas ranging from robotics, control theory, manufacturing to management of assets, financial portfolios and supply chains. Many such problems in one way or another are rela ...

EPFL2019