Publications associées à Design, Modeling and Optimization of Stochastic Reactive Distributed Robotic Systems

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

Strategy to systematically design and deploy the ITER plasma control system: A system engineering and model-based design approach

Richard Pitts, Federico Alberto Alfredo Felici, Federico Pesamosca, Anna Ngoc Minh Trang Vu

The paper details the process of developing the ITER Plasma Control System (PCS), that is, how to design and deploy it systematically, in the most efficient and effective manner. The integrated nature of the ITER PCS, with its multitude of coupled control ...

Elsevier Science Sa2024

FETCH: A Fast and Efficient Technique for Channel Selection in EEG Wearable Systems

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The rapid development of wearable biomedical systems now enables real-time monitoring of electroencephalography (EEG) signals. Acquisition of these signals relies on electrodes. These systems must meet the design challenge of selecting an optimal set of el ...

2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

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This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

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Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

An aircraft assembly process formalism and verification method based on semantic modeling and MBSE

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The aircraft assembly system is highly complex involving different stakeholders from multiple domains. The design of such a system requires comprehensive consideration of various industrial scenarios aiming to optimize key performance indicators. Tradition ...

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A Method of Moments Estimator for Interacting Particle Systems and their Mean Field Limit

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We study the problem of learning unknown parameters in stochastic interacting particle systems with polynomial drift, interaction, and diffusion functions from the path of one single particle in the system. Our estimator is obtained by solving a linear sys ...

Siam Publications2024

A Tunable Self-Offloading Module for Plantar Pressure Regulation in Diabetic Patients

Paolo Germano, Christian Köchli, Yves Perriard, Yoan René Cyrille Civet, Kenny Jeanmonod, Sofia Lydia Ntella, Bhawnath Tiwari

Plantar pressure plays a crucial role in the pathogenesis of foot ulcers among patients with diabetes and peripheral polyneuropathy. Pressure relief is a key requirement for both the prevention and treatment of plantar ulcers. Conventional medical practice ...

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Graph generative deep learning models with an application to circuit topologies

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Modern integrated circuits are tiny yet incredibly complex technological artifacts, composed of millions and billions of individual structures working in unison. Managing their complexity and facilitating their design drove part of the co-evolution of mode ...

EPFL2024

Unified Harmonic Power-Flow and Stability Analysis of Power Grids with Converter-Interfaced Distributed Energy Resources

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Modern power distribution systems are experiencing a large-scale integration of Converter-Interfaced Distributed Energy Resources (CIDERs). Their presence complicates the analysis and mitigation of harmonics, whose creation and propagation may be amplified ...

EPFL2024

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Learning the intrinsic dynamics of spatio-temporal processes through Latent Dynamics Networks

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Predicting the evolution of systems with spatio-temporal dynamics in response to external stimuli is essential for scientific progress. Traditional equations-based approaches leverage first principles through the numerical approximation of differential equ ...

Nature Portfolio2024

Modified capillary number to standardize droplet generation in suction-driven microfluidics

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In droplet microfluidic devices with suction-based flow control, the microchannel geometry and suction pressure at the outlet govern the dynamic properties of the two phases that influence the droplet generation. Therefore, it is critical to understand the ...

Springer Heidelberg2024

Dynamical simulation via quantum machine learning with provable generalization

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Much attention has been paid to dynamical simulation and quantum machine learning (QML) independently as applications for quantum advantage, while the possibility of using QML to enhance dynamical simulations has not been thoroughly investigated. Here we d ...

Amer Physical Soc2024

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

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Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

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Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

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Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

A semantic model-based systems engineering approach for assessing the operational performance of metal forming process

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Metal Forming is a basic and essential industrial process to provide materials for constructing complex products. To design an efficient metal forming process, the functional requirements and operational performance are two important aspects to be consider ...

Pergamon-Elsevier Science Ltd2024

Educational Soft Underwater Robot with an Electromagnetic Actuation

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As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Mary Ann Liebert, Inc2024

Investigating neural resource allocation in the sensorimotor control of extra limbs

Giulia Dominijanni

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

EPFL2024

A Comparative Analysis of Tools & Task Types for Measuring Computational Problem-Solving

Engin Walter Bumbacher, Jérôme Guillaume Brender, Richard Lee Davis

How to measure students' Computational Problem-Solving (CPS) competencies is an ongoing research topic. Prevalent approaches vary by measurement tools (e.g., interactive programming, multiple-choice tests, or programming-independent tests) and task types ( ...

Association for Computing Machinery2024