Related papers: Optimization-based Feedback Manipulation Through a…
We introduce a novel algorithm for nonlinear processing of data gathered by an active array of sensors which probes a medium with pulses and measures the resulting waves. The algorithm is motivated by the application of array imaging. We…
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the…
We introduce a novel nonlinear imaging method for the acoustic wave equation based on data-driven model order reduction. The objective is to image the discontinuities of the acoustic velocity, a coefficient of the scalar wave equation from…
Metasurfaces with tunable spatial phase functions could benefit numerous applications. Currently, most approaches to tuning rely on mechanical stretching which cannot control phase locally, or by modulating the refractive index to exploit…
We propose a system to deliver dynamic guidance in drawing, sketching and handwriting tasks via an electromagnet moving underneath a high refresh rate pressure sensitive tablet. The system allows the user to move the pen at their own pace…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI), providing a cheap way to…
Falling liquid films are complex physical processes modelled by infinite-dimensional dynamical systems. The interfacial behaviour is characterised by the Reynolds number, a nondimensional parameter, and above a critical value the uniform…
We investigate the capability of an active body (master) to manipulate a passive object (slave) purely via contactless flow-mediated mechanisms, motivated by potential applications in microfluidic devices and medicine (drug delivery…
Different optical nanostructures containing both loss and gain components attract ever-increasing attention as novel advanced materials and building blocks for a variety of nanophotonic and plasmonic applications. Unique tunable optical…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
Wavefront Shaping has emerged over the past decade as a powerful tool to control wave propagation through complex media, initially in optics and more recently also in the microwave domain with important applications in telecommunication,…
Wide passband interdigital transducers are employed to establish a stable phase-lock between a train of laser pulses emitted by a mode-locked laser and a surface acoustic wave generated electrically by the transducer. The transducer design…
In the context of the ultrasonic determination of mechanical properties, it is common to use oblique incident waves to characterize fluid-immersed anisotropic samples. The lateral displacement of the ultrasonic field owing to leaky guided…
This article describes the design and manufacturing of a microfluidic chip, allowing for the actuation of a gas-liquid interface and of the neighboring fluid. A first way to control the interface motion is to apply a pressure difference…
Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
Nanomechanical oscillators have been employed as transducers to measure force, mass and charge with high sensitivity. They are also used in opto- or electromechanical experiments with the goal of quantum control and phenomena of mechanical…
In this work, a novel approach for the detection and localisation of nonlinear guided waves often associated with the presence of damage in structural components is proposed. The method is active and consists of a piezoelectric transducer…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…