Device for Determining a Bidirectional Reflectance Distribution Function of a Subject

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Publications associées (30)

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Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

Josephine Anna Eleanor Hughes, Kai Christian Junge

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

FRONTIERS MEDIA SA2022

Memory of Motion for Initializing Optimization in Robotics

Teguh Santoso Lembono

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

Mechanistic Insight into Supramolecular Polymerization in Water Tunable by Molecular Geometry

Lukas Pfeifer

Supramolecular self-assembly in water based on non-covalent bonding is attracting major attention due to the potential of hydrogels and aqueous polymers in biomedical applications. Although supramolecular polymerization in organic solvents is well establis ...

CHINESE CHEMICAL SOC2022

Resource-Aware Stochastic Self-Triggered Model Predictive Control

Colin Neil Jones, Yuning Jiang, Yingzhao Lian

This letter considers the control of uncertain systems operated under limited resource factors, such as battery life or hardware longevity. We consider here resource-aware self-triggered control techniques that schedule system operation non-uniformly in ti ...

2021

Reference tracking stochastic model predictive control over unreliable channels and bounded control actions

Colin Neil Jones

A stochastic model predictive control framework over unreliable Bernoulli communication channels, in the presence of unbounded process noise and under bounded control inputs, is presented for tracking a reference signal. The data losses in the control chan ...

2021

Developments on actuator management, plasma state reconstruction, and control on ASDEX Upgrade

Olivier Sauter, Federico Alberto Alfredo Felici, Mengdi Kong, Simon Van Mulders

In present day tokamaks, the role of the control research is to support the physics experiments and to prepare technologies for future devices such as ITER and DEMO. This paper presents the developments done under the MST1 program collaboration on ASDEX Up ...

2021

Review of control strategies for lower-limb exoskeletons to assist gait

Auke Ijspeert, Mohamed Bouri, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Colin Neil Jones, Petr Listov, Roland Schwan

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

IEEE2022

Hierarchical Control of Islanded Microgrids with Flexible Structures

Pulkit Nahata

The primary objective of this doctoral thesis is the design and development of hierarchical control schemes for the overall operation and control of Islanded mGs (ImGs) with flexible structuresâ or, with no reference topologies. The control methodologies ...

EPFL2021