Research
Research
Research
Research
65+ open-access research outputs.
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Power-to-ammonia (P2A) provides a carbon-free alternative to conventional ammonia production by replacing fossil-based feedstocks with electrolytic hydrogen and nitrogen from air separation. For decen…
We present \texttt{DR-DAQP}, an open-source solver for strongly monotone affine variational inequaliries that combines Douglas-Rachford operator splitting with an active-set acceleration strategy. The…
The increasing penetration of photovoltaic (PV) generation in low-voltage distribution networks presents operational challenges, with overvoltages being among the most critical. This study introduces …
We present StochasticBarrier.jl, an open-source Julia-based toolbox for generating Stochastic Barrier Functions (SBFs) for safety verification of discrete-time stochastic systems with additive Gaussia…
The consideration of stochastic uncertainty in optimal and predictive control is a well-explored topic. Recently Polynomial Chaos Expansions (PCE) have received considerable attention for problems inv…
The discrete exterior calculus (DEC) defines a family of discretized differential operators which preserve certain desirable properties from the exterior calculus. We formulate and solve the porous co…
With the growing integration of modular multilevel converters (MMCs) in Multi-Terminal Direct Current (MTDC) transmission systems, there is an increasing need for control strategies that ensure both e…
The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart-Gough platform. The problem involves determining all possible postures of a mobile platfor…
In the near future, point-to-point High Voltage Direct Current (HVDC) systems are expected to evolve into multi-terminal and meshed HVDC grids, predominantly adopting a bipolar HVDC configuration. Nor…
Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certif…
Since time immemorial an old adage has always seemed to ring true: you cannot use a high-level productive programming language like Python or R for real-time control and embedded-systems programming, …
Proprietary closed-source software is still the norm in advanced process control. Transparency and reproducibility are key aspects of scientific research. Free and open-source toolkit can contribute t…
Global stability of the systems has always been vital of importance; however, this concept has not yet been sufficiently developed for the nonlinear systems. This paper extends the Jacobian matrix so …
Active Inference is a framework that emphasizes the interaction between agents and their environment. While the framework has seen significant advancements in the development of agents, the environmen…
Lyophilization (aka freeze drying) is a typical process in pharmaceutical manufacturing used for improving the stability of various drug products, including its recent applications to mRNA vaccines. W…
The increasing integration of distributed energy resources (DER) offers new opportunities for distribution system operators (DSO) to improve network operation through flexibility services. To utilise …
Context. The GRAVITY+ upgrade implies a complete renewal of its adaptive optics (AO) systems. Its complex design, featuring moving components between the deformable mirrors and the wavefront sensors, …
Optimizing operational set points for modular multilevel converters (MMCs) in Multi-Terminal Direct Current (MTDC) transmission systems is crucial for ensuring efficient power distribution and control…
Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling…
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