Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements

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The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

Time-domain solutions of Maxwell’s equations in homogeneous and isotropic media are paramount to studying transient or broadband phenomena. However, analytical solutions are generally unavailable for practical applications, while numerical solutions are co ...

This paper focuses on the operational characteristics of a medium voltage resonant DC transformer based on a split capacitor IGCT 3L-NPC leg. The study delves into both the dynamic and static balancing aspects of the 3L-NPC when operating in a two-level, 5 ...

This paper discusses the development of a benign termination scenario for runaway electron (RE) beams on ASDEX Upgrade and TCV. A systematic study revealed that a low electron density (n e) companion plasma was required to achieve a large MHD instability, ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

The ITER Heating Neutral Beam (HNB) source prototype SPIDER (Source for the Production of Ions of Deuterium Extracted from a Radio frequency plasma), hosted at the Neutral Beam Test Facility (NBTF) in Padova, Italy, has recently started operating with evap ...

A growing body of research has shown that reversed cyclic shear loading of reinforced concrete (RC) causes effects that are not accounted for in monotonic behavioral models. Notable among these effects are a reduction in shear strength and significant plas ...

Despite their high sensitivity and their suitability for miniaturization, biosensors are still limited for clinical applications due to the lack of reproducibility and specificity of their detection performance. The design and preparation of sensing surfac ...

This paper studies the routing and charging behaviors of electric vehicles in a competitive ride-hailing market. When the vehicles are idle, they can choose whether to continue cruising to search for passengers, or move a charging station to recharge. The ...

In this doctoral thesis, a promising technique has been used for the measurement of non-thermal electrons in TCV. The technique employs a Vertical viewing ECE to more easily discriminate the radiation according to the energy of the electrons. Successful ...

A multiphysics model was developed for a photoelectrochemical (PEC) cell at the device level to simulate water splitting operating under concentrated irradiation (between 50 to 600 kW m−2). The 2D model couples charge, heat, mass, photon, and momentum tran ...

Polar oceans and sea ice cover 15% of the Earth’s ocean surface, and the environment is changing rapidly at both poles. Improving knowledge on the interactions between the atmospheric and oceanic realms in the polar regions, a Surface Ocean–Lower Atmospher ...

Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements

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Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

The time-domain Cartesian multipole expansion of electromagnetic fields

Static and Dynamic Voltage Balancing for an IGCT-Based Resonant DC Transformer

Benign termination of runaway electron beams on ASDEX Upgrade and TCV

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Exploration-based model learning with self-attention for risk-sensitive robot control

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Online active and dynamic object shape exploration with a multi-fingered robotic hand

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Implicit Distance Functions: Learning and Applications in Robotics

Beam homogeneity of caesium seeded SPIDER using a direct beamlet current measurement

The General Crack Component Model for reversed cyclic shear

Design and Preparation of Sensing Surfaces for Capacitive Biodetection

Routing and charging game in ride-hailing service with electric vehicles

Measuring the electron energy distribution in tokamak plasmas from polarized electron cyclotron radiation

Multiphysics model for assessing photoelectrochemical phenomena under concentrated irradiation

Polar oceans and sea ice in a changing climate