Related papers: Active platform stabilisation with a 6D seismomete…
We present a novel inertial-isolation scheme based on six degree-of-freedom (6D) interferometric sensing of a single reference mass. It is capable of reducing inertial motion by more than two orders of magnitude at 100\,mHz compared with…
We present a computer-based active interferometer stabilization method that can be set to an arbitrary phase difference and does not rely on modulation of the interfering beams. The scheme utilizes two orthogonal modes propagating through…
The D-band, spanning 110 GHz to 170 GHz, has emerged as a relevant frequency range for future mobile communications and radar sensing applications, particularly in the context of 6G technologies. This demonstration presents a…
Seismic isolation is crucial for gravitational wave detectors as it minimizes ground vibrations, enabling the detection of faint gravitational wave signals. An active seismic isolation platform for precision measurement experiments is…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…
Ground vibrations couple to the longitudinal and angular motion of the aLIGO test masses and limit the observatory sensitivity below 30\,Hz. Novel inertial sensors have the potential to improve the aLIGO sensitivity in this band and…
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able…
We present a pair of seismometers capable of measurement in all six axes of rigid motion. The vacuum-compatible devices implement compact interferometric displacement sensors to surpass the sensitivity of typical electrical readout schemes.…
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and…
Tilt-horizontal coupling in inertial sensors limits the performance of active isolation systems such as those used in gravitational wave detectors. Inertial rotation sensors can be used to subtract the tilt component from the signal…
This paper proposes an automatic tuning algorithm for a sliding mode controller (SMC) based on the Ackermann's formula, that attenuates the structural vibrations of a seismically excited building equipped with an Active Tuned Mass Damper…
In this paper we explore the stability of an inverted pendulum with generalized parametric excitation described by a superposition of $N$ sines with different frequencies and phases. We show that when the amplitude is scaled with the…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
High precision interferometers such as gravitational-wave detectors require complex seismic isolation systems in order to decouple the experiment from unwanted ground motion. Improved inertial sensors for active isolation potentially…
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double…
The nanometer scale beam sizes at the interaction point in linear colliders limit the allowable motion of the final focus magnets. We have constructed a prototype system to investigate the use of active vibration damping to control magnet…
Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an aging population, relatively simple and safe diagnosis tasks may need to be performed using robotics…
We show that a simple modification to an optical table with pneumatic vibration isolation can be used to actively reduce the long term drift in the tilt of the table by nearly a factor of 1000. Without active stabilization, we measure a…