Publications related to Floppy-disk controller

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Alcherio Martinoli, Cyrill Silvan Baumann

The automatic design of well-performing robotic controllers is still an unsolved problem due to the inherently large parameter space and noisy, often hard-to-define performance metrics, especially when sequential tasks need to be accomplished. Distal contr ...

2022

Iterative Learning Control of a Parallel Delta Robot

Mohamed Bouri

In this work, an iterative learning control (ILC) is applied to a Delta robot in order to improve the tracking precision at high dynamic movement. Delta robot is a parallel manipulator designed for high-speed pick and place operations. Since the dynamic of ...

SPRINGER2019

Low-Complexity Optimization-Based Control: Design, Methods and Applications

Ivan Pejcic

Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...

EPFL2019

In Search of Lost Bandwidth: Extensive Reordering of DRAM Accesses on FPGA

Paolo Ienne, Mikhail Asiatici, Gabor Andras Csordas

For efficient acceleration on FPGA, it is essential for external memory to match the throughput of the processing pipelines. However, the usable DRAM bandwidth decreases significantly if the access pattern causes frequent row conflicts. Memory controllers ...

IEEE COMPUTER SOC2019

Bilevel programming for analysis of low-complexity control of linear systems with constraints

Colin Neil Jones

In this paper we use bilevel programming to find the maximum difference between a reference controller and a low-complexity controller in terms of the infinity-norm difference of their control laws. A nominal MPC for linear systems with constraints, and a ...

IEEE2009

Mechanism for blob generation in the TORPEX toroidal plasma

Ambrogio Fasoli, Ivo Furno, Jonathan Graves, Paolo Ricci, Stephan Brunner, Benoît Labit, Christian Gabriel Theiler, Mario Ludovico Podesta, Francesca Maria Poli

The mechanism for blob generation is detailed in the toroidal magnetized plasma of the TORPEX device [ Fasoli et al., Phys. Plasmas 13, 055902 (2006) ] using an experimental configuration, which features a plasma region dominated by a coherent wave and a r ...

2008

Extended law of corresponding states in short-range square wells: A potential energy landscape study

Giuseppe Foffi, Francesco Sciortino

We study the statistical properties of the potential energy landscape of a system of particles interacting via a very short-range square-well potential (of depth - u0) as a function of the range of attraction Δ to provide thermodynamic insights of the Noro ...

2006

Haptic interface design and control with application to surgery simulation

Ulrich Spälter

This thesis proposes a framework for haptic devices interacting with virtual environments. As application of the theoretical results a haptic device for the surgical training of hysteroscopy, a gynecologic intervention, is presented. Surgery simulators, wh ...

EPFL2006

On Multidimensional Data and Modern Disks

Anastasia Ailamaki

With the deeply-ingrained notion that disks can efficiently access only one dimensional data, current approaches for mapping multidimensional data to disk blocks either allow efficient accesses in only one dimension, trading off the efficiency of accesses ...

USENIX Association2005