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Publications associées (285)

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

Maryam Kamgarpour, Luca Furieri, Yu Zheng

A convex parameterization of internally stabilizing controllers is fundamental for many controller synthesis procedures. The celebrated Youla parameterization relies on a doubly coprime factorization of the system, while the recent system-level and input-o ...

2021

Second-order adjoint-based sensitivity for hydrodynamic stability and control

Edouard Boujo

Adjoint-based sensitivity analysis is routinely used today to assess efficiently the effect of open-loop control on the linear stability properties of unstable flows. Sensitivity maps identify regions where small-amplitude control is the most effective, i. ...

CAMBRIDGE UNIV PRESS2021

Stabilization of city-scale road traffic networks via macroscopic fundamental diagram-based model predictive perimeter control

Nikolaos Geroliminis, Isik Ilber Sirmatel

Traffic control for large-scale urban road networks remains a challenging problem. Aggregated dynamical models of city-scale traffic, based on the macroscopic fundamental diagram (MFD), enable development of model-based perimeter control methods. Involving ...

2021

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

On Topological Equivalence in Linear Quadratic Optimal Control

Daniel Kuhn, Wouter Jongeneel

Dynamical systems are topologically equivalent when their orbits can be mapped onto each other via a homeomorphic change of coordinates. We will show that in general, closed-loop systems resulting from Linear Quadratic Optimal Control problems are all topo ...

2021

Medium Voltage Impedance and Admittance Measurement and System Identification Techniques

Marko Petkovic

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

EPFL2021

Detangling hair using feedback-driven robotic brushing

Josephine Anna Eleanor Hughes

The brushing of hair requires a complex understanding of the interaction between soft hair fibers and the soft brushing device. It is also reliant on having both visual and tactile information. Guided by a recently developed model of soft tangled fiber bun ...

Institute of Electrical and Electronics Engineers Inc.2021

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

Jamie Paik, Amir Firouzeh

This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including ...

MARY ANN LIEBERT, INC2021

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Current Limiting in Overload Conditions of an LLC-Converter-Based DC Transformer

Drazen Dujic, Jakub Kucka

The dc transformers based on an LLC converter operated in open loop near resonant frequency have several crucial advantages compared to other topologies. These advantages are the stiff voltage ratio with a natural power flow, the dc grid isolation via medi ...

2021

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