17 papers · ranked by Valyu relevance
Hayato Dan, Takeshi Hatanaka, Junya Yamauchi, Takumi Shimizu + 1 more
'Masayuki Fujita'] In this paper, we address a persistent object search and surveillance mission for drone networks equipped with onboard cameras, and present a safe control strategy based on control barrier functions The mission for the object search and surveillance in this paper is defined with two subtasks…
Mohammadreza Davoodi, Asif Iqbal, Joseph M. Cloud, William J. Beksi + 1 more
'Nicholas R. Gans'] In this paper, we present a novel means of control design for probabilistic movement primitives (ProMPs). Our proposed approach makes use of control barrier functions and control Lyapunov functions defined by a ProMP distribution. Thus, a robot may move along a trajectory within the distribution…
Fengxiang Mao, Dongsong Zhang, Liang Xu, Rui Wang + 1 more
This paper addresses the problem of cooperative coverage control for heterogeneous Autonomous Underwater Vehicle (AUV) swarms operating in complex underwater environments. The objective is to achieve optimal coverage of a target region while simultaneously ensuring collision avoidance-both among AUVs and with static…
Chunbin Qin, Kaijun Jiang, Jishi Zhang, Tianzeng Zhu + 1 more
'Mohammad Reza Rahimi Tabar'] In this paper, the safe optimal control method for continuous-time (CT) nonlinear safety-critical systems with asymmetric input constraints and unmatched disturbances based on the adaptive dynamic programming (ADP) is investigated. Initially, a new non-quadratic form function is…
Mordecai Opoku Ohemeng, Frederick T. Sheldon, Nikos Fotiou, Antonio Cano-Ortega
Inverter-dominated microgrids are highly vulnerable to stealthy cyber-physical drift attacks, low-amplitude, slowly varying perturbations that bypass conventional statistical filters to induce voltage degradation and delayed collapse. This paper introduces a resilient, delay-aware supervisory control architecture that…
Ashkan Zehfroosh, Herbert G. Tanner
This paper reports on a new approach to Signal Temporal Logic (STL) control synthesis, that 1) utilizes a navigation function as the basis to construct a Control Barrier Function (CBF), and 2) composes navigation function-based barrier functions using nonsmooth mappings to encode Boolean operations between the…
Chunbin Qin, Xiaopeng Qiao, Jinguang Wang, Dehua Zhang + 2 more
'Ravi P. Agarwal' 'Maria Alessandra Ragusa'] In this paper, a robust trajectory tracking control method with state constraints and uncertain disturbances on the ground of adaptive dynamic programming (ADP) is proposed for nonlinear systems. Firstly, the augmented system consists of the tracking error and the reference…
Willem-Jan Pannekoek, Anneke Post, Johannes L Bos
The small G-protein Rap1 plays an important role in the regulation of endothelial barrier function, a process controlled largely by cell-cell adhesions and their connection to the actin cytoskeleton. During the various stages of barrier dynamics, different guanine nucleotide exchange factors (GEFs) control Rap1…
Axton Isaly, Brendon C. Allen, Ricardo G. Sanfelice, Warren E. Dixon
Stationary motorized cycling assisted by functional electrical stimulation (FES) is a popular therapy for people with movement impairments. Maximizing volitional contributions from the rider of the cycle can lead to long-term benefits like increased muscular strength and cardiovascular endurance. This paper develops a…
Frederik Vinter-Hviid, Christoffer Sloth, Thiusius Rajeeth Savarimuthu, Iñigo Iturrate
'Thiusius Rajeeth Savarimuthu' 'Iñigo Iturrate'] In robotics, active exploration and learning in uncertain environments must take into account safety, as the robot may otherwise damage itself or its surroundings. This paper presents a method for safe active search using Bayesian optimization and control barrier…
Khalid A. Alattas, Omid Mofid, Abdullah K. Alanazi, Hala M. Abo-Dief + 4 more
'Andrzej Bartoszewicz' 'Mohsen Bakouri' 'Saleh Mobayen' 'Biswajeet Pradhan'] This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the…
Douja Chamseddine, Siraje A. Mahmud, Aundrea K. Westfall, Todd A. Castoe + 2 more
'Todd A. Castoe' 'Rance E. Berg' 'Mark W. Pellegrino'] Title: SUMMARY Organisms use several strategies to mitigate mitochondrial stress, including the activation of the mitochondrial unfolded protein response (UPRmt). The UPRmt in Caenorhabditis elegans, regulated by the transcription factor ATFS-1, expands on this…
Sanghyeon Lee, Youngjin Park
A circular active noise barrier using a theoretically calculated control filter without real-time adaptation was proposed for noise reduction in a specific outdoor space. A compact circular barrier is used for the movable system to cope with changes in the location of the workspace, and noise in a wide frequency band…
Jieyi Yang, Jiageng Guo, Peiling Tang, Shidu Yan + 8 more
The skin barrier is essential for maintaining the body’s internal homeostasis, protecting against harmful external substances, and regulating water and electrolyte balance. Traditional Chinese Medicine (TCM) offers notable advantages in restoring skin barrier function due to its diverse components, targets, and…
Zhongjun Yang, Chuyan Dong, Xinyu Zhang, Guogang Wang
We investigate the tracking control problem for a non-strict feedback nonlinear system with external disturbance and time-varying asymmetric full state constraints. Firstly, the unknown nonlinear term with external disturbance in the system are estimated by fuzzy logic system. The backstepping method is applied to the…
Shihao Wang, Shiqi Zheng, Yushu Deng, Zhouxiang Jiang + 3 more
'Xiaoqi Tang' 'Raúl Alcaraz'] This paper concentrates on the study of logic-based switching adaptive control. Two different cases will be considered. In the first case, the finite time stabilization problem for a class of nonlinear system is studied. Based on the recently developed adding a barrier power integrator…
Cornelia Blume, Emily J Swindle, Stefanie Gilles, Claudia Traidl-Hoffmann + 1 more
'Claudia Traidl-Hoffmann' 'Donna E Davies'] The bronchial epithelium plays a key role in providing a protective barrier against many environmental substances of anthropogenic or natural origin which enter the lungs during breathing. Appropriate responses to these agents are critical for regulation of tissue…