Publications associées à Discovery of a low order drug-cell response surface for applications in personalized medicine

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

A Front-End CMOS Interface Circuit With High Voltage Charge Pump and Oscillator for Capacitive Micromachined Ultrasonic Transducers

Sandro Carrara, Zhengwen Jiang, Gian Luca Barbruni, Yihe Zhao

Label-free biosensors, combined with miniaturized micro-electromechanical sensory platforms, offer an attractive solution for real-time and facile monitoring of biomolecules due to their high sensitivity and selectivity without the need for specifically la ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

A geometric optimal control approach for imitation and generalization of manipulation skills

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Auke Ijspeert, Alexandre Massoud Alahi, George Adaimi, Chuanfang Ning, Lixuan Tang, Anastasia Bolotnikova

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on balancing the gain of two probing frequencies is proposed for real-time Brillouin optical time-domain analysis (BOTDA) without post-processing. With the most basic BOTDA hardware setup, the system can perform measuremen ...

2022

A combined Control by Interconnection—Model Predictive Control design for constrained Port-Hamiltonian systems

Anna Ngoc Minh Trang Vu

This paper proposes a Control by Interconnection design, for a class of constrained Port-Hamiltonian systems, which is based on an associated Model Predictive Control optimization problem. This associated optimization problem allows to consider both state ...

2022

Balancing high-speed rotors at low speed using optimized parametric excitation and tuned nonlinear feedback

Amit Yedidia Dolev

The paper presents an improved slow-speed mass balancing procedure capable of reducing high-speed related imbalance. Parametric excitation is used to project the small imbalance forces onto a chosen mode of vibration, corresponding to a high critical rotat ...

PERGAMON-ELSEVIER SCIENCE LTD2022

Exploiting Marginal Stability in Slow-Fast Quasilinear Dynamical Systems

Alessia Ferraro

The accurate investigation of many geophysical phenomena via direct numerical simulations is computationally not possible nowadays due to the huge range of spatial and temporal scales to be resolved. Therefore advances in this field rely on the development ...

EPFL2022

Repurposed drug combination via high-throughput screening and dual drug delivery system development for the treatment of retinoblastoma

Po-Jen Tseng

The goal of retinoblastoma (RB) treatment is to save the child's life, eyes and functional vision, with that order of priority. The management of RB is complex and involves strategically chosen methods of surgical enucleation, external beam radiotherapy, i ...

EPFL2022

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

Jamie Paik, Amir Firouzeh, Matthew Aaron Robertson

This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including ...

MARY ANN LIEBERT, INC2022

Developments on actuator management, plasma state reconstruction, and control on ASDEX Upgrade

Olivier Sauter, Federico Alberto Alfredo Felici, Mengdi Kong, Simon Van Mulders, Bernhard Sieglin

In present day tokamaks, the role of the control research is to support the physics experiments and to prepare technologies for future devices such as ITER and DEMO. This paper presents the developments done under the MST1 program collaboration on ASDEX Up ...

2021

Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Hakan Girgin, Julius Maximilian Jankowski

In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...

IEEE2021

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

2021

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Rohan Budhiraja, Teguh Santoso Lembono

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Model-based optimization of magnetic control in the TCV tokamak: design and experiments

Federico Pesamosca

Thermonuclear controlled fusion is a promising answer to the current energy and climate issues, providing a safe carbon-free source of energy which is virtually inexhaustible. In magnetic confinement thermonuclear fusion based on tokamak reactors, hydrogen ...

EPFL2021

A unified framework for walking and running of bipedal robots

Ludovic Righetti, Elham Daneshmand

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Real-time feedback control system for ADITYA-U horizontal plasma position stabilisation

Harshita Raj, Rohit Kumar, Shivam Gupta

The ADITYA-U tokamak (R-0 = 0.75 m, a = 0.25 m) is designed to shape plasma column in both single and double null diverter configurations. It is quite well known that sustaining a shaped plasma in tokamak requires very good plasma column position control, ...

2021

Resource-Aware Stochastic Self-Triggered Model Predictive Control

Colin Neil Jones, Yingzhao Lian, Yuning Jiang

This letter considers the control of uncertain systems operated under limited resource factors, such as battery life or hardware longevity. We consider here resource-aware self-triggered control techniques that schedule system operation non-uniformly in ti ...

2021

Acidity and the multiphase chemistry of atmospheric aqueous particles and clouds

Athanasios Nenes

The acidity of aqueous atmospheric solutions is a key parameter driving both the partitioning of semi-volatile acidic and basic trace gases and their aqueous-phase chemistry. In addition, the acidity of atmospheric aqueous phases, e.g., deliquesced aerosol ...

Copernicus GmbH2021