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Contrastive Learning on 3D Point Clouds for Robotic Geometric Defect Detection
COSARAD detects geometric defects in 3D point clouds via contrastive learning and spatially aware patch comparison (ICRA 2026).
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Contrastive Learning on 3D Point Clouds for Robotic Geometric Defect Detection
Learned Slip-Detection-Severity Framework using Tactile Deformation Field Feedback for Robotic Manipulation
Safely handling objects and avoiding slippage are fundamental challenges in robotic manipulation, yet traditional techniques often …
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Optimal Loop Shaping and Disturbance Rejection Beyond the Nyquist Frequency using a Forward Model Disturbance Observer and Convex Optimization Based Filter Design
Loop shaping based on the disturbance observer (DOB) offers great flexibility in designing a control system’s closed-loop …
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Optimal Loop Shaping and Disturbance Rejection Beyond the Nyquist Frequency using a Forward Model Disturbance Observer and Convex Optimization Based Filter Design
State-Space System Identification beyond the Nyquist Frequency with Collaborative Non-Uniform Sensing Data
In a multirate sampled-data system encompassing a continuous-time process and multiple output samplers with different sampling periods, …
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Target Tracking Under Delayed and Irregularly-Sampled Visual Feedback for a Robotic Air-Hockey System
We present a target tracking system for a robotic air-hockey player, where the state of the puck is optimally estimated by fusing …
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A Multirate Repetitive Control for Fractional-Order Servos in Laser-Based Additive Manufacturing
This paper studies repetitive control (RC) algorithms to advance the quality of repetitive energy deposition in laser-based additive …
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Enhanced Wide-Spectrum Vibration Suppression Based on Adaptive Loop Shaping
In linear feedback control, the attenuation of disturbances at the designer-selected frequencies is subjected to the fundamental …
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Extended State Observer with Phase Compensation to Deal with High-frequency Vibrations in Hard Disk Drives
The extended state observer (ESO), as a special case of high-gain observers, can estimate not only the state variables but also unknown …
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Input-to-output Discontinuity and Transient Improvement in Add-on Control Design
Add-on control is commonly used in control systems for disturbance rejection and servo enhancements. Despite the capability of greatly …
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Multirate Forward-model Disturbance Observer for Feedback Regulation beyond Nyquist Frequency
A fundamental challenge in digital and sampleddata control arises when the controlled plant is subjected to fast disturbances with, …
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