In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential re...
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Maintaining up-to-date environmental models from initial deployment through long-term autonomy in service is critical for applications like navigation and task planning. To address the challenges of persistent monitor...
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In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the ...
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This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a...
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Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize wat...
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We present a methodology for designing a dynamic controller with delayed output feedback for achieving non-collocated vibration suppression with a focus on the multi-frequency case. To synthesize the delay-based contr...
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We present a methodology for designing a dynamic controller with delayed output feedback for achieving non-collocated vibration suppression with a focus on the multi-frequency case. To synthesize the delay-based controller, we first remodel the system of equations as a delay-differential algebraic equation (DDAE) in such a way that existing tools for design of a static output feedback controller can be easily adapted. The problem of achieving non-collocated vibration suppression with sufficient damping is formulated as a constrained optimization problem of minimizing the spectral abscissa in the presence of zero-location constraints, with the constraints exhibiting polynomial dependence on its parameters. We transform the problem into an unconstrained one using elimination, following which we solve the resulting non-convex, non-smooth optimization problem.
This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an anta...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and springs; i.e., the motors are in an SEA configuration with the load/fingers. In the designed underactuated prosthetic hand, the thumb is adjustable for various tasks, and the optimization of pulley diameters ensures synchronized finger movement during hand flexion and extension. Thanks to the SEA configuration of the motors and fingers, simple position control of the motor enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp. An extensive set of experiments has been conducted to evaluate the designed prosthetic hand’s performance. The experiments confirm the hand’s satisfactory performance while also highlighting the importance of improving the proposed design in different aspects. To attain better position control and morphological grasp, minimizing the cable-body and joint friction is recommended. A higher resolution of the current/torque sensor is needed for the precise force control and slippage detection. Finally, a motor brake system is required to achieve efficient grasping.
To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and ...
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The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the fi...
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip.
This article addresses the distributed optimization problem in the presence of malicious adversaries that can move within the network and induce faulty behaviors in the attacked nodes. We first investigate the vulnera...
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This article addresses the distributed optimization problem in the presence of malicious adversaries that can move within the network and induce faulty behaviors in the attacked nodes. We first investigate the vulnerabilities of a consensus-based secure distributed optimization protocol under mobile adversaries. Then, a modified resilient distributed optimization algorithm is proposed. We develop conditions on the network structure for both complete and non-complete directed graph cases, under which the proposed algorithm guarantees that the estimates by regular nodes converge to the convex combination of the minimizers of their local functions. Simulations are carried out to verify the effectiveness of our approach.
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