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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 ...
A model-free iterative learning control strategy (ILC) in nonrepetitive trajectories, applied to robotic manipulators is presented in this article. The development of this ILC controller is derived in general case for second-order nonlinear multi-input mul ...
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 ...
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
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 ...
Modelling and analysis of biological systems is crucial in order to quantitatively explain and predict their behaviour.
The importance of modelling in systems biology
becomes even more evident when tackling complex, large systems. Approaches
that rely on ...
The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to pr ...
Controlling reactions between molecules is a major fundamental goal in chemistry and doing so on the level of individual quantum states is very challenging. Now, control over the reactant state and full characterization of the product-state distribution of ...
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. ...
We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...
