Frederik Deroo

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Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of(More)
— Distributed control of large-scale dynamical systems poses a new challenge to the field of control driven by the technological advances of modern communication networks. A particular challenge is the distributed design of such control systems. Here, a distributed iterative controller synthesis method for continuous time linear systems using a gradient(More)
— Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an(More)
This letter demonstrates the potential for using diffuse ultrasound measurements to detect damage in concrete. Two different solutions to the diffusion equation, an infinite three-dimensional (3D) volume model that neglects geometric boundaries and a finite 3D cuboid model, are used for the required curve fitting procedure to determine the influence of(More)
An offline nonlinear model predictive control (NMPC) approach for continuous time nonlinear systems subject to input and state constraints is presented. The approach deals with nonlinear systems which can be represented by polynomial parameter-varying systems. Since the applicability of NMPC is often limited by the speed at which an optimization problem can(More)
A case of a congenital anomaly of the urinary tract in a 25-year-old Caucasian male is presented. Preoperative and pathologic findings demonstrated an ectopic ureter which terminated in a seminal vesicle cyst. Both structures formed an abortive common duct at the bladder base. The ipsilateral kidney was dysplastic. Findings on voiding cytourethrography,(More)
Privacy concerns spark the desire to analyze large-scale interconnected systems in a distributed fashion, that is, without a central entity having global model knowledge. Two different approaches are presented to analyze the stability of interconnected linear time-invariant systems with limited model knowledge. The two algorithms implement sufficient(More)
ACKNOWLEDGEMENTS Without the help and support from a large number of people, this work would not have been possible. First of all, I would like to thank Prof. Laurence Jacobs for making this exchange possible and for being a great advisor, supporter, teacher and friend. He opened a new door to ultrasonic wave propagation I might not have entered without(More)