Related papers: Further results on "Velocity-position integration …
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
We develop a new method to determine the acceleration of a block sliding down along the face of a moving wedge. We have been able to link the solution of this problem to that of the inclined plane problem of elementary physics, thus…
The present work is concerned with the shape optimization of flapping wings in forward flight. The analysis is performed by combining a gradient-based optimizer with the unsteady vortex lattice method (UVLM). We describe the UVLM…
We develop a non--perturbative method that yields analytical expressions for the deflection angle of light in a general static and spherically symmetric metric. It is an improvement on a method previously devised by the authors, and…
By collecting the data of eyeball movement of pilots, it is possible to monitor pilot's operation in the future flight in order to detect potential accidents. In this paper, we designed a novel SVS system that is integrated with an eye…
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…
In this paper we discuss a new method which can be used to obtain arbitrarily accurate analytical expressions for the deflection angle of light propagating in a given metric. Our method works by mapping the integral into a rapidly…
In this work, a deep learning-based technique is used to study the image-to-joint inverse kinematics of a tendon-driven supportive continuum arm. An eye-off-hand configuration is considered by mounting a camera at a fixed pose with respect…
This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…
An algorithm is demonstrated that performs first-principles tracking of relativistic charged-particles. A covariant approach is used which relies on retarded vector potentials for trajectory integration instead of performing electromagnetic…
Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…
This paper evaluates several improvements to the memory layout of convex hulls to improve computation times for support point queries. The support point query is a fundamental part of common collision algorithms, and the work presented…
This mini-review provides a perspective on recent progress and emerging directions aimed at utilizing and controlling in-plane optical polarization, highlighting key application spaces where in-plane near-field tip responses have enabled…
This work introduces a new inversion formula for analytical functions. It is simple, generally applicable and straightforward to use both in hand calculations and for symbolic machine processing. It is easier to apply than the traditional…
In recent study in Ref.[7] (arXiv: 2401.12525), we have introduced a method aimed at calculating the weak-field asymptotic deflection angle. This method offers an efficient computational approach that avoids the complexities of integration…
An improved formula for the timing of binary pulsars that accounts for the relativistic deflection of light in the gravitational field of the pulsar's companion is presented, and the measurability of this effect together with its variance…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
An approximate equation of motion is proposed for screw and edge dislocations, which accounts for retardation and for relativistic effects in the subsonic range. Good quantitative agreement is found, in accelerated or in decelerated…
Two configurations typical of fixed-wing aircraft are simulated with the actuator line method (ALM): a wing with winglets and a T-tail. The ALM is extensively used in rotor simulations to model the blades by body forces, which are…