Design of a Highly Biomimetic and Fully-Actuated Robotic Finger

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Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

We introduce and derive the Fourier -enhanced 3D electrostatic field solver of the gyrokinetic full -f PIC code PICLS. The solver makes use of a Fourier representation in one periodic direction of the domain to make the solving of the system easily paralle ...

Dielectric elastomer actuators (DEAs) have raised interest due to their remarkable capabilities in various applications, such as soft robotics, haptic feedback systems, and biomedical devices. To harness the full potential of DEAs, the choice of the electr ...

Randomized measurement protocols such as classical shadows represent powerful resources for quantum technologies, with applications ranging from quantum state characterization and process tomography to machine learning and error mitigation. Recently, the n ...

The desire and ability to place AI-enabled applications on the edge has grown significantly in recent years. However, the compute-, area-, and power-constrained nature of edge devices are stressed by the needs of the AI-enabled applications, due to a gener ...

Division of labour is widely thought to increase the task efficiency of eusocial insects. Workers can switch their task to compensate for sudden changes in demand, providing flexible task allocation. In combination with automated tracking technology, we de ...

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

Design of a Highly Biomimetic and Fully-Actuated Robotic Finger

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Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Verification of the Fourier-enhanced 3D finite element Poisson solver of the gyrokinetic full-f code PICLS

Carbon based printed electrodes for DEAs: study of pad, inkjet, and stencil printing

Dual-frame optimization for informationally complete quantum measurements

Exploring High-Performance and Energy-Efficient Architectures for Edge AI-Enabled Applications

Targeted worker removal reveals a lack of flexibility in brood transport specialisation with no compensatory gain in efficiency

Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

Self-Correcting Quadratic Programming-Based Robot Control

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Learning and optimization of anticipatory feedback controllers for robot manipulation