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Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
The instrumentation of real systems is often designed for control purposes and control inputs are designed to achieve nominal control objectives. Hence, the available measurements may not be sufficient to isolate faults with certainty and…
Experimental modal analysis (EMA) is of great importance for the dynamic characterization of structures. Existing methods typically employ out-of-plane forces for excitation and measure the acceleration or strain for modal analysis.…
Space systems such as communication satellites, earth observation satellites and space telescopes require precise pointing to observe fixed targets over prolonged time. These systems typically use reaction-wheels to slew the spacecraft and…
In December 2017, Seagate unveiled the Multi Actuator Technology to double the data performance of the future generation hard disk drives (HDD). This technology will equip drives with two dual stage actuators (DSA) each comprising of a…
Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available. We describe here the development of an active and…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
As satellites become smaller, the ability to maintain stable pointing decreases as external forces acting on the satellite come into play. At the same time, reaction wheels used in the attitude determination and control system (ADCS)…
Agile earth observation satellites employ multiple actuators to enable flexible and responsive imaging capabilities. While significant advancements in actuator technology have enhanced satellites' torque and momentum, relatively little…
In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
Our study found that integrating shear piezo-transducers inside the beam offers a compact and efficient solution that enables localized damping control without compromising structural integrity. However, the conventional approach of placing…
Modern particle accelerators and high-energy physics experiments that deployed up to several hundred of accelerating superconducting RF cavities require accurate frequency control. This is achieved by using cavity tuners typically actuated…
CubeSats are emerging as low-cost tools to perform astronomy, exoplanet searches and earth observation. These satellites can target an object for science observation for weeks on end. This is typically not possible on larger missions where…