Related papers: Faulty actuator tolerance in deformable mirrors fo…
(abridged) Extreme adaptive optics (XAO) encounters severe difficulties to cope with the high speed (>1kHz), high accuracy and high order requirements for future extremely large telescopes. An innovative high order adaptive optics system…
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic robots that incorporate compliant and contracting artificial…
Due to its immediate response, the electro-optic effect is exploited for high-frequency phase and power modulation and for beam deflection. Besides the immediate response, electro-optic materials exhibit creep due to relaxation processes in…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
In this paper some adaptive mirror descent algorithms for problems of minimization convex objective functional with several convex Lipschitz (generally, non-smooth) functional constraints are considered. It is shown that the methods are…
Optical aberrations prevent telescopes from reaching their theoretical diffraction limit. Once estimated, these aberrations can be compensated for using deformable mirrors in a closed loop. Focal plane wavefront sensing enables the…
Enhancement cavities where a beam of large size (several millimeters) can resonate have several applications, in particular in atomic physics. However, reaching large beam waists in a compact geometry (less than a meter long) typically…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
The Extremely Large Telescopes will require hundreds of actuators across the pupil for high Strehl in the visible. We envision a triple-stage AO (TSAO) system for GMT/GMagAO-X to achieve this. The first stage is a 4K DM controlled by an IR…
In a system with long-ranged correlations, the behavior of correlation functions is sensitive to the presence of a boundary. We show that surface deformations strongly modify this behavior as compared to a flat surface. The modified near…
Metasurfaces are promising tools towards novel designs for flat optics applications. As such their quality and tolerance to fabrication imperfections need to be evaluated with specific tools. However, most such tools rely on the geometrical…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
The main objective of the present project is to explore the viability of an adaptive optics control system based exclusively on Field Programmable Gate Arrays (FPGAs), making strong use of their parallel processing capability. In an…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Astronomical telescopes suffer from a tradeoff between field of view (FoV) and image resolution: increasing the FoV leads to an optical field that is under-sampled by the science camera. This work presents a novel computational imaging…
We present a new method to achieve high-contrast images using segmented and/or on-axis telescopes. Our approach relies on using two sequential Deformable Mirrors to compensate for the large amplitude excursions in the telescope aperture due…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Technological advances will allow the placement of many Terahertz detectors at the focal plane of a single telescope. For a telescope of a given diameter and wavelength of operation, there is a limit to the number of usable detectors…
Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…
We introduce a system and methods for the three-dimensional measurement of extended specular surfaces with high surface normal variations. Our system consists only of a mobile hand held device and exploits screen and front camera for…