Publication

Mechanism balancing taxonomy

Publications associées (31)

A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...

2021

Comparison of gait characteristics between clinical and daily life settings in children with cerebral palsy

Kamiar Aminian, Anisoara Ionescu, Lena Carcreff, Stéphane Armand

Gait assessments in standardized settings, as part of the clinical follow-up of children with cerebral palsy (CP), may not represent gait in daily life. This study aimed at comparing gait characteristics in laboratory and real life settings on the basis of ...

Nature Research2020

Microbial Ecology of Methanotrophy in Streams Along a Gradient of CH4 Availability

Alexandre Bagnoud, Tom Ian Battin, Paraskevi Pramateftaki, Hannes Markus Peter

Despite the recognition of streams and rivers as sources of methane (CH4) to the atmosphere, the role of CH4 oxidation (MOX) in these ecosystems remains poorly understood to date. Here, we measured the kinetics of MOX in stream sediments of 14 sites to res ...

Frontiers Media SA2020

Angular Momentum in Rotating Superfluid Droplets

Camila Bacellar Cases Da Silveira, Christoph Bostedt

The angular momentum of rotating superfluid droplets originates from quantized vortices and capillary waves, the interplay between which remains to be uncovered. Here, the rotation of isolated submicrometer superfluid He-4 droplets is studied by ultrafast ...

AMER PHYSICAL SOC2020

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Özdemir Can Kara, Matthew Aaron Robertson

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

On the Dynamics of Magnetic Swimmers in Stokes Flow

Pauline Marie Rüegg-Reymond

In the past decade, the engineering community has conceived, manufactured and tested micro-swimmers, i.e. microscopic devices which can be steered in their intended environment. Foreseen applications range from microsurgery and targeted drug delivery to en ...

EPFL2019

Modeling the kinetics of the main peak and later age of alite hydration

Alexandre Reda Constantin William Caleb Ouzia

The aim of this thesis is to understand the mechanisms underlying the main hydration peak and later ages of alite hydration; it proposes new mechanistic models for these two stages. Alite is the main constituent of Portland Cement (PC), and is responsible ...

EPFL2019

Jumping dynamics of aquatic animals

Emmanuel Georges Albert Virot

Jumping out of water is a phenomenon exhibited by a variety of aquatic and semi-aquatic animals. Yet, there is no common groundwork that clarifies the physical constraints required to jump out of water. In this study, we elucidate the physical conditions r ...

ROYAL SOC2019

Range-based underwater target localization using an autonomous surface vehicle: Observability analysis

In the field of marine robotics, the problem of range based underwater target localization can be defined as that of localizing an unknown - fixed or moving - target from a surface vehicle called the tracker, using range information available about the tar ...

2018

Taxonomic revision of genus Fornasinius Bertoloni, 1853 with description of new taxa (Scarabaeidae: Cetoniinae)

Michele De Palma

The genus Fornasinius was established in 1853 by Giuseppe BERTOLONI to receive a taxon that was sufficiently distinct from the known representatives of the genus Goliathus Lamarck, 1801, to merit a different placement. Here, the type species of the genus, ...

2018

Rapid Deployment of Curved Surfaces via Programmable Auxetics

Mark Pauly, Mina Konakovic Lukovic, Francis Julian Panetta

Deployable structures are physical mechanisms that can easily transition between two or more geometric configurations; such structures enable industrial, scientific, and consumer applications at a wide variety of scales. This paper develops novel deployabl ...

2018