Publications associées à Stability Considerations for Variable Impedance Control

Publications associées (38)

Octopus-Inspired Swimming Robot with Web-Coupled Multi-Arm Coordination

Josephine Anna Eleanor Hughes, Sareum Kim

In nature, aquatic animals leverage the interaction between their soft bodies and surrounding fluid to achieve efficient locomotion; for animals with multiple limbs, this requires careful coordination among the limbs. The octopus, with its tentacles and fl ...

IEEE2025

Dataset to accompany publication: Investigating the effects of plasma-activated water on E. coli with the novel application of single-cell impedance flow cytometry

Brayden Graham Myers

This dataset includes the impedance measurements that accompany the manuscript "Investigating the effects of plasma-activated water on E. coli with the novel application of single-cell impedance flow cytometry", available at https://doi.org/10.1038/s41598- ...

Zenodo2025

On the use of Cramér-Rao Lower Bound for least-variance circuit parameters identification of Li-ion cells

Mario Paolone, Vladimir Sovljanski

Electrochemical Impedance Spectroscopy (EIS) and Equivalent Circuit Models (ECMs) are widely used to characterize the impedance and estimate parameters of electrochemical systems such as batteries. We use a generic ECM with ten parameters grouped to model ...

2024

Impact of beam-coupling impedance on the Schottky spectrum of bunched beam

Tatiana Pieloni, Nicolas Frank Mounet, Christophe Emmanuel R. Lannoy

The Schottky monitors of the Large Hadron Collider (LHC) can be used for non-invasive beam diagnostics to estimate various bunch characteristics, such as tune, chromaticity, bunch profile or synchrotron frequency distribution. However, collective effects, ...

Iop Publishing Ltd2024

A Two-Wired High Input Impedance and High CMRR Active Electrode Insensitive to Component Mismatch

Alexandre Schmid, Mehdi Saberi

This article proposes a new two-wired amplifying active electrode (AE), presenting a high input impedance and a high common-mode rejection ratio (CMRR). In the proposed structure, the input impedance and the CMRR of the system are considerably increased by ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Sensitivity Analysis of the Lumped Thermal Model of the EU 170 GHz Gyrotron Magnetron Injection Gun

Jean-Philippe Hogge, Francisco Sanchez

The ITER Electron Cyclotron Resonance Heating and Current Drive (ECRH&CD) system relies on 1 MW 170 GHz Gyrotrons to provide the mm-wave power needed for plasma heating, current drive, and magneto-hydrodynamic control. The design and modeling of the contro ...

Ieee-Inst Electrical Electronics Engineers Inc2024

High-frequency response of a hemispherical grounding electrode

Farhad Rachidi-Haeri, Marcos Rubinstein, Antonio Sunjerga

The lightning discharge current is characterized by a high-frequency spectrum extending from DC to about 10 MHz. The calculation of the grounding impedance is one of the most important aspects of designing lightning protection systems. The search for analy ...

Elsevier2024

Learning Human-Robot Handshaking Preferences for Quadruped Robots

Alessandra Chappuis, Auke Ijspeert, Guillaume Denis Antoine Bellegarda

Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to be adaptable to ...

IEEE Computer Society2024

Portable impedance-sensing device for microorganism characterization in the field

Sandro Carrara

A variety of biosensors have been proposed to quickly detect and measure the properties of individual microorganisms among heterogeneous populations, but challenges related to cost, portability, stability, sensitivity, and power consumption limit their app ...

Nature Portfolio2023

Self-Synchronized Grid Impedance Estimation Unit using Interpolated DFT Technique

Drazen Dujic, Andrea Cervone, Jules Christian Georges Macé

Estimating the impedance of a grid-connected device or of a grid at the point of common coupling is important for evaluating the interaction between them. Impedance measurement involves a perturbation injection device, that perturbs the system, and a measu ...

2023

NbN films with high kinetic inductance for high-quality compact superconducting resonators

Edoardo Charbon, Pasquale Scarlino, Fabrizio Minganti, Simone Frasca, Marco Scigliuzzo, Fabian Oppliger, Vincent Jean Yves Jouanny

Niobium nitride (NbN) is a particularly promising material for quantum technology applications, as it shows the degree of reproducibility necessary for large-scale superconducting circuits. We demonstrate that resonators based on NbN thin films present a o ...

American Physical Society (APS)2023

Self-sustained dynamics and forced resonant oscillations in flows: cross-junction jets and sloshing liquids

Alessandro Bongarzone

In engineering, oscillatory instabilities and resonances are often considered undesirable flow features and measures are taken to avoid them. This may include avoiding certain parametric regions or implementing control and mitigation strategies. However, t ...

EPFL2023

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

2023

Hybridization driving distortions and multiferroicity in rare-earth nickelates

Nicola Marzari, Iurii Timrov, Michele Kotiuga, Luca Binci

For decades transition-metal oxides have generated a huge interest due to the multitude of physical phenomena they exhibit. In this class of materials, the rare-earth nickelates, RNiO3, stand out for their rich phase diagram stemming from complex couplings ...

Amer Physical Soc2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Portable Multi-Frequency Impedance-Sensing Device for Bacteria Classification in a Flowing Liquid

Sandro Carrara

This paper presents a novel impedance-sensing device and its related microfluidics system developed to characterize the macroscopical properties of bacteria and microparticles. The system is based on a phase-sensitive detector with square-waves excitation ...

IEEE2022

Crash test-based assessment of injury risks for adults and children when colliding with personal mobility devices and service robots

Aude Billard, Diego Felipe Paez Granados

Autonomous mobility devices such as transport, cleaning, and delivery robots, hold a massive economic and social benefit. However, their deployment should not endanger bystanders, particularly vulnerable populations such as children and older adults who ar ...

Nature Publishing Group2022

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Wei Wang, Jonathan Patrick Arreguit O'Neill

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

Theoretical Efficiency and Dosimetry of Buffered On-body Transmitter Antennas for Wireless Powering of In-body Devices

Anja Skrivervik, Denys Nikolayev

The viable and safe application of wireless power transfer for powering bioelectronic implants requires understanding the wave propagation in heterogeneous and dispersive media, the electromagnetic exposure assessment, and the optimum design of the system ...

IEEE2022

Stochastic derivative estimation for max-stable random fields

Erwan Fabrice Koch

We consider expected performances based on max-stable random fields and we are interested in their derivatives with respect to the spatial dependence parameters of those fields. Max-stable fields, such as the Brown-Resnick and Smith fields, are very popula ...

ELSEVIER2022