Publications related to Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on balancing the gain of two probing frequencies is proposed for real-time Brillouin optical time-domain analysis (BOTDA) without post-processing. With the most basic BOTDA hardware setup, the system can perform measuremen ...

2022

Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

Josephine Anna Eleanor Hughes

Interest in bioinspired peristaltic pumps has grown in popularity among the scientific community in the last decade thanks to their extreme flexibility and their intrinsic compliance. In this paper, we propose a soft peristaltic pump exploiting ballooning. ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Closed-loop technique using gain balance for fast Brillouin Optical Time-Domain Analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on the gain ratio of two probing frequencies is proposed for fast BOTDA, where the feedback is independent of probe and pump loss, making it robust in harsh environment. ...

Optica Publishing Group2022

Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Julius Maximilian Jankowski, Hakan Girgin

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

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Aude Billard, Rui Wu

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

2021

Stabilization and Accuracy Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Alireza Karimi, Seyed Sohail Madani

Power-Hardware-In-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed algorithms and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model v ...

2021

Mechanotaxis directs Pseudomonas aeruginosa twitching motility

Alexandre Louis André Persat, Lorenzo Anton-Louis Talà, Xavier Jean-Yves Pierrat, Jose Negrete Jr, Joanne Netter Engel, Marco Julian Kühn

The opportunistic pathogen Pseudomonas aeruginosa explores surfaces using twitching motility powered by retractile extracellu-lar filaments called type IV pili (T4P). Single cells twitch by sequen-tial T4P extension, attachment, and retraction. How single ...

NATL ACAD SCIENCES2021

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Maryam Kamgarpour, Luca Furieri, Na Li

It is known that the set of internally stabilizing controller

\mathcal{C}_{\text{stab}}

is non-convex, but it admits convex characterizations using certain closed-loop maps: a classical result is the {Youla parameterization}, and two recent notions are t ...

2020

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Alireza Karimi, Seyed Sohail Madani

Power-Hardware-in-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed instruments and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model ...

2020

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

Maryam Kamgarpour, Luca Furieri

We study the distributed Linear Quadratic Gaussian (LQG) control problem in discrete-time and finite-horizon, where the controller depends linearly on the history of the outputs and it is required to lie in a given subspace, e.g. to possess a certain spars ...

IEEE2020

Breaking Silos to Guarantee Control Stability with Communication over Ethernet TSN

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Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

Closed-loop technique using gain balance for fast Brillouin Optical Time-Domain Analysis

Probabilistic Adaptive Control for Robust Behavior Imitation

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Stabilization and Accuracy Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Mechanotaxis directs Pseudomonas aeruginosa twitching motility

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Closed-loop technique using gain balance for fast Brillouin Optical Time-Domain Analysis

Probabilistic Adaptive Control for Robust Behavior Imitation

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Mechanotaxis directs Pseudomonas aeruginosa twitching motility

Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

Stabilization and Accuracy Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method