Haptic interface design and control with application to surgery simulation

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In Virtual Reality (VR), users provided with a virtual body and congruent multi-sensory stimulation usually experience a feeling of embodiment of the virtual body, which can be interpreted as a transfer of bodily self-consciousness toward the avatar's body ...

In preparation for error field (EF) identification experiments in ITER, a series of experiments have been conducted at JET to test the portability of the non-disruptive compass scan, a method originally designed and tested in DIII-D (Paz-Soldan et al 2022 ...

Plasma shape control is a fundamental tool for effective tokamak operation, allowing improved plasma performance and the pursuit of challenging scientific objectives. In this framework, the Tokamak á Configuration Variable (TCV) of the École Polytechnique ...

Objective. A key challenge of virtual reality (VR) applications is to maintain a reliable human-avatar mapping. Users may lose the sense of controlling (sense of agency), owning (sense of body ownership), or being located (sense of self-location) inside th ...

Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimizat ...

In the field of aeronautical engineering, understanding and simulating aircraft engine performance is critical, especially for improving operational safety, efficiency, and sustainability. At Safran Aircraft Engines, we were able to demonstrate the effecti ...

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

Modern power distribution systems are experiencing a large-scale integration of Converter-Interfaced Distributed Energy Resources (CIDERs). Their presence complicates the analysis and mitigation of harmonics, whose creation and propagation may be amplified ...

The collimation system of the Future Circular Collider, operating with leptons (FCC-ee), must protect not only the experiments against backgrounds, but also the machine itself from beam losses. With a 17.8 MJ stored energy of the electron and positron beam ...

Computer simulations are often used as support material for science education, as they can engage students through inquiry-based learning, promote their active interaction in the experimentation phase, and help them visualize abstract concepts. For instanc ...

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

The work presented in this thesis lies at the intersection of Machine Learning (ML) and control theory. The first part is dedicated to the design of Deep Neural Network (DNN) architectures with specific numerical properties, inspired by dynamical systems m ...

The aircraft assembly system is highly complex involving different stakeholders from multiple domains. The design of such a system requires comprehensive consideration of various industrial scenarios aiming to optimize key performance indicators. Tradition ...

The paper details the process of developing the ITER Plasma Control System (PCS), that is, how to design and deploy it systematically, in the most efficient and effective manner. The integrated nature of the ITER PCS, with its multitude of coupled control ...

Zoning reform is a crucial tool for cities to adapt to contemporary challenges. However, its implementation remains challenging. Property owners, with a vested interest in the value of their neighborhoods, are sensitive to local developments and the potent ...

Computer systems rely heavily on abstraction to manage the exponential growth of complexity across hardware and software. Due to practical considerations of compatibility between components of these complex systems across generations, developers have favou ...

Hand neuroprostheses restore voluntary movement in people with paralysis through neuromodulation protocols. There are a variety of strategies to control hand neuroprostheses, which can be based on residual body movements or brain activity. There is no univ ...

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

Haptic interface design and control with application to surgery simulation

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The self and the avatar mutual influences in embodied Virtual Reality

Lessons Learned Executing the Non-disruptive Compass Scan Method at Jet Towards Error Field Identification Experiments in Iter

Design and implementation of a model-based hierarchical architecture for plasma shape control in the TCV tokamak

Customizing the human-avatar mapping based on EEG error related potentials during avatar-based interaction

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

Assessing Aircraft Engine Wear through Simulation Techniques

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Unified Harmonic Power-Flow and Stability Analysis of Power Grids with Converter-Interfaced Distributed Energy Resources

Collimation simulations for the FCC-ee

Teacher-Mediated and Student-Led Interaction with a Physics Simulation: Effects on the Learning Experience

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Navigating the Loop: From Control Systems to Neural Networks and Back

An aircraft assembly process formalism and verification method based on semantic modeling and MBSE

Strategy to systematically design and deploy the ITER plasma control system: A system engineering and model-based design approach

Spatial Modeling for Building Design Evaluation: from Visual Landscape Quality Assessment to Devaluation Risk Estimation

Secure Interface Design Leveraging Hardware/Software Support

A Virtual Reality-Based Protocol to Determine the Preferred Control Strategy for Hand Neuroprostheses in People with Paralysis

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Investigating neural resource allocation in the sensorimotor control of extra limbs

Filiform Variable Stiffness Technologies for Medical Robotics