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Over the last century, many women have contributed to the field of control engineering. Nevertheless, women are generally in the minority. This article highlights the contribution of women since the inception of control engineering to highlight good exemples to coming generations. A repository of portraits of women in control engineering is currently being curated and made available through the un
New results on continuous time nonlinear consensus under varying topology are presented. The results are proved utilizing non Lyapunov based methods, i.e., the Hilbert metric, showing the possibility of further investigation of Hilbert metric for consensus and synchronization problems.
In this paper we provide an analytical solution to an H2 optimal control problem, that applies whenever the process corresponds to a uniformly damped network of masses and springs. The solution covers both stable and unstable systems, and illustrates analytically how damping affects the levels of achievable performance. Furthermore, the resulting optimal controllers can be synthesised using passiv
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the complete lift of the system along the given trajectory. These conditions are coordinate-free which reveal fundamental relationships between exponential stability and
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even “batch size 1” in production created a need for robot control system architectures that can provide the required flexibility. Such architectures must not only have a sufficient knowledge integration framework. It must also support autonomou
It is shown that the behavior of an m-port circuit of maximal monotone elements can be expressed as a zero of the sum of a maximal monotone operator containing the circuit elements, and a structured skew-symmetric linear operator representing the interconnection structure, together with a linear output transformation. The Condat–Vũ algorithm solves inclusion problems of this form, and may be used
In the realm of cloud computing, the prevalence of intra-phase congestion due to concurrent periodic requests from a multitude of clients frequently results in heightened resource consumption, elongated queuing times, and prolonged response durations. To tackle these challenges, this paper presents a groundbreaking 'Adaptive Out-of-Phase Scheduling' technique, utilizing a server-side PID controlle
The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy representation to facilitate the learning and execution of assembly tasks. The current implementation of the BTMGs for a specific task may not be robust to the ch
The assignment of products to storage locations significantly impacts the efficiency of warehouse operations. We propose a multi-phase optimizer for a Storage Location Assignment Problem (SLAP) where solution quality is based on a distance estimate of future-forecasted order picking. Candidate assignments are first sampled using a Markov Chain accept/reject method. Future-forecasted pick-rounds ar
Using hydraulic models in control design in district heating networks can increase pumping efficiency and reduce sensitivity to hydraulic bottlenecks. These models are usually white-box, as they are obtained based on full knowledge of the district heating network and its parameters. This type of model is time-consuming to obtain, and might differ from the actual behavior of the system. In this pap
This paper focuses on the investigation of a sequential detection policy for combating the effect of the replay attack on a cloud-native controller. In reply attacks, an external attacker records true signals for some time duration and replays them later. The effect of such an attack is mitigated by adding random signals to the optimal control signal before the actuation process, which is known as
Recent methods on privacy-preserving image-based localization use a random line parameterization to protect the privacy of query images and database maps. The lifting of points to lines effectively drops one of the two geometric constraints traditionally used with point-to-point correspondences in structure-based localization. This leads to a significant loss of accuracy for the privacy-preserving
We verify safety of a nonlinear continuous-time system controlled by a neural network controller. The system is decomposed into low-dimensional subsystems connected in a feedback loop. Our application is a rocket landing, and open-loop properties of the two-dimensional altitude subsystem are verified using worst-case simulations. Closed-loop safety properties (crash-avoidance) of the full system a
In this paper we consider calibration of hydraulic models for district heating networks based on operational data. We extend previous theoretical work on the topic to handle real-world complications, namely unknown valve characteristics and hysteresis. We generate two datasets in the Smart Water Infrastructure Laboratory in Aalborg, Denmark, on which we evaluate the proposed procedure. In the firs
We consider control of multiple stable first-order systems which have a control coupling described by an M-matrix. These agents are subject to incremental sector-bounded nonlinearities. We show that such plants can be globally asymptotically stabilized to a unique equilibrium using fully decentralized proportional integral anti-windup-equipped controllers subject to local tuning rules. In addition
A multi-variable adaptive controller is derived as the explicit solution to a minimax dynamic game. The minimizing player selects the control action as a function of past state measurements and inputs. The maximizing player selects disturbances and model parameters for the underlying linear time-invariant dynamics. This leads to a Bellman equation that can be solved explicitly for the case with un
Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of maturity in well-textured and well-configured scenes over the last decades, they still fall short of robustly solving the SfM problem in challenging scenarios.
In this paper, we speed up robust two-view relative pose from dense correspondences. Previous work has shown that dense matchers can significantly improve both accuracy and robustness in the resulting pose. However, the large number of matches comes with a significantly increased runtime during robust estimation in RANSAC. To avoid this, we propose an efficient match summarization scheme which pro
