Probabilistic Adaptive Control for Robust Behavior Imitation
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In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable t ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the instability of the plasma vertical position. In this case the control becomes a significant problem when saturation of the power supplies is c ...
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...
The reasons for the cellular specificity and slow progression of motoneuron diseases such as ALS are still poorly understood. We previously described a motoneuron-specific cell death pathway downstream of the Fas death receptor, in which synthesis of nitri ...
The paper describes development of a feedback position controller for a new type of monolithic "hybrid" ultrasonic motor. The goal of the controller design was to demonstrate the main advantage of this piezoelectric motor – high speed and high accuracy at ...
The stability and the dimensioning of a step-down switching voltage regulator feedback loop remain a complex task. An analytical approach allows dimensioning of all the components, strongly facilitating this task. In this article, a mathematical analysis i ...
A new vertical position control system, including an internal active coil, has become operational on TCV. The new system has made it possible to stabilize plasmas with open loop growth rates up to 4400 s(-1), currents up to 1.0 MA and elongations up to 2.5 ...
