Related papers: Active optics: deformable mirrors with a minimum n…
Active nematics, formed from a liquid crystalline suspension of active force dipoles, are a paradigmatic active matter system whose study provides insights into how chemical driving produces the cellular mechanical forces essential for…
Off-axis parabolic mirrors (OAPMs) are widely used in the THz and mm-wave communities for spectroscopy and imaging applications, as a result of their broadband, low-loss operation and high numerical apertures. However, the aspherical shape…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
The trend towards ever larger telescopes and more advanced adaptive optics systems is driving the need for deformable mirrors with a large number of low cost actuators. Liquid mirrors have long been recognized a potential low cost…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…
The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…
This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…
We analyze the classical dynamics of a system composed of a one-dimensional cavity with a perfect, fixed mirror and a movable mirror with non-zero transparency interacting with a monochromatic laser. The movable mirror can deviate far from…
We consider two minimal models of active fluid droplets that exhibit complex dynamics including steady motion, deformation, rotation and oscillating motion. First we consider a droplet with a concentration of active contractile matter…
In most optomechanical systems a movable mirror is a part of an optical cavity, and its oscillation modulates either the resonance frequency of the cavity, or its coupling to the environment. There exists the third option -- which we call a…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
We present the results obtained with an end-to-end simulator of an Extreme Adaptive Optics (XAO) system control loop. It is used to predict its on-sky performances and to optimise the AO loop algorithms. It was first used to validate a…
We analyze the behaviour of a coherent field driving a single mode optical cavity with one perfectly reflecting moving mirror and a partially reflecting fixed mirror, and show that this system's output exhibits optical bistability due to…
The surface figure of x-ray mirrors can be improved by differential deposition of thin films. To achieve the required corrections, WSi2 layers of variable thickness were deposited through beam-defining apertures of different openings. The…
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced…
We present a prediction framework for ordinal models: we introduce optimal predictions using loss functions and give the explicit form of the Least-Absolute-Deviation prediction for these models. Then, we reformulate an ordinal model with…
Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…