Related papers: Mitigating Coriolis Effects in Centrifuge Simulato…
Fast Fourier Transform based phase screen simulations give accurate results only when the screen size ($G$) is much larger than the outer scale parameter ($L_0$). Otherwise, they fall short in correctly predicting both the low and high…
Due to the complexity of the human body and its neuromuscular stabilization, it has been challenging to efficiently and accurately predict human motion and capture posture while being driven. Existing simple models of the seated human body…
Numerical simulations of atmospheric turbulence and AO wavefront correction are performed to investigate the timescale for fringe motion in optical interferometers with spatial filters. These simulations focus especially on partial AO…
This work explores the stability, behavior, variants, and a controller-hardware-in-the-loop (C-HiL) verification of the recently proposed grid-forming (GFM) hybrid angle control (HAC). We revisit the foundation of GFM HAC, and highlight its…
-This article presents clinical results from the use of MONIMAD, a reactive robotized interface for lower limb Rehabilitation of patients suffering from cerebellar disease. The first problem to be addressed is the postural analysis of…
This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…
Computational optimal feedback control (OFC) models in the sensorimotor control literature span a vast range of different implementations. Among the popular algorithms, finite-horizon, receding-horizon or infinite-horizon linear-quadratic…
Reinforcement learning (RL) has shown promise in a large number of robotic control tasks. Nevertheless, its deployment on unmanned aerial vehicles (UAVs) remains challenging, mainly because of reliance on accurate dynamic models and…
The receive field of MRI imparts an image contrast which is spatially fixed relative to the receive coil. If motion correction is used to correct subject motion occurring during an EPI time series then the receiver contrast will effectively…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
A new algorithm to perform coherent mode decomposition of the undulator radiation is proposed. It is based in separating the horizontal and vertical directions, reducing the problem by working with one-dimension wavefronts. The validity…
Mitigating cybersickness can improve the usability of virtual reality (VR) and increase its adoption. The most widely used technique, dynamic field-of-view (FOV) restriction, mitigates cybersickness by blacking out the peripheral region of…
Reg-ROMs are stabilization strategies that leverage spatial filtering to alleviate the spurious numerical oscillations generally displayed by the classical G-ROM in under-resolved numerical simulations of turbulent flows. In this paper, we…
An improved understanding of Field Reversed Configuration (FRC) merging and stability in high acceleration and compression magnetic fields is needed to speed up the development of the pulsed fusion concept developed at Helion Energy. All…
This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
The accurate Attitude Heading Reference System(AHRS) is an important apart of the UAV reliable flight system. Aiming at the application scenarios of near ground navigation of small-UAV, this paper establishes a loose couple error model of…
We show that a small correction due to centrifugal force usually neglected in the $l$-plane model of atmosphere drastically influences on the stability of vortices. Namely, in the presence of the Coriolis force only there exists a wide…