Optimal Robust Decision Trees: A dynamic programming approach

Decision trees are integral to machine learning, with their robustness being a critical measure of effectiveness against adversarial data manipulations. Despite advancements in algorithms, current solutions are either optimal but lack scalability or scale well, but do not guarrantee optimality. This paper presents a novel adaptation of the...

Robustness of Modular Timber Buildings: An investigation into alternative load paths in volumetric timber post and beam modules

Increasing housing demand in Europe and the need to be more sustainable are asking the construction industry to leave the traditional pathways and innovate. An emerging construction method with volumetric timber modules potentially offers the solution. However little is known about the robustness of this new innovation. Therefore, this thesis...

Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model...

Incremental nonlinear control of hydraulic parallel robots: An application to the SIMONA research simulator

In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their...

Robustness of attractors in tapping mode atomic force microscopy

In this work, we perform a comprehensive analysis of the robustness of attractors in tapping mode atomic force microscopy. The numerical model is based on cantilever dynamics driven in the Lennard–Jones potential. Pseudo-arc-length continuation and basins of attraction are utilized to obtain the frequency response and dynamical integrity of...

A 280μW dynamic-zoom ADC with 120dB DR and 118dB SNDR in 1kHz BW

Micro-power ADCs with high linearity and dynamic range (DR) are required in several applications, such as smart sensors, biomedical imaging, and portable instrumentation. Since the signals of interest are then often small (tens of μν) and slow (<1kHz BW), such ADCs should also exhibit low offset and flicker noise. Noise-shaping SAR [1] and...

Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control

When several Multirotor Micro Aerial Vehicles (MAVs) share the same airspace, reliable and robust collision avoidance is required. In this paper we address the problem of multi-MAV reactive collision avoidance. We employ a model-based controller to simultaneously track a reference trajectory and avoid collisions. Moreover, to achieve a higher...

Incremental Nonlinear Dynamic Inversion Flight Control: Stability and Robustness Analysis and Improvements

Incremental Nonlinear Dynamic Inversion (INDI) is a variation on Nonlinear Dynamic Inversion (NDI) retaining the high-performance advantages of NDI, while increasing controller robustness to model uncertainties and decreasing the dependency on the vehicle model. After a successful flight test with a multirotor Micro Aerial Vehicle (MAV), the...

Comparing Robust Decision-Making and Dynamic Adaptive Policy Pathways for model-based decision support under deep uncertainty

A variety of model-based approaches for supporting decision-making under deep uncertainty have been suggested, but they are rarely compared and contrasted. In this paper, we compare Robust Decision-Making with Dynamic Adaptive Policy Pathways. We apply both to a hypothetical case inspired by a river reach in the Rhine Delta of the Netherlands...

Dynamic improvement of robustness of power transmission grids in decentralized and distributed environments

Power transmission networks are large scale complex distributed and networked systems, situated in dynamic environments. Managing such systems is essentially decentralized and distributed. The main function of power transmission grids is to assure the security and reliability of the network and to avoid blackouts. Key elements that can determine...