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Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
In this paper, we propose a novel non-contact vibration measurement system that is competent in estimating linear and/or rotational motions of machine parts. The technique combines microwave radar, standard camera, and optical strobe to…
For a twisted (vortex) Dirac particle in nonuniform electric and magnetic fields, the relativistic Foldy-Wouthuysen Hamiltonian is derived including high order terms describing new effects. The result obtained shows for the first time that…
Probing the relative speeds of gravitational waves and light acts as an important test of General Relativity and alternative theories of gravity. Measuring the arrival time of gravitational waves and electromagnetic counterparts can be used…
We present a straightforward method for measuring the fluids' relative viscosity via a simple graphical analysis of the normalised position autocorrelation function of an optically trapped bead, without the need of embarking on laborious…
A spherically symmetric and static metric that describes physical coordinates is introduced. It is defined to be a metric that gives coordinate independent results for physically observable quantities without a further coordinate…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control…
In order to test gravitation in the Solar System, it is necessary to improve the orbit restitution of interplanetary spacecrafts. The addition of an accelerometer on board is a major step toward this goal because this instrument measures…
Rotation speed is a key metric for many applications, such as calibrating electric motors in a factory, monitoring a car's engine health, detecting faults in electrical appliances, and more. However, existing measurement techniques have…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
The determination of the gravitational potential by the polyhedral method is revisited in the case where the surface of a body is composed of triangular facets. Based upon six test-shapes of astrophysical interest (sphere, spheroid,…
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…
We present an algorithm for determining the acceleration field of a rigid body using measurements from four tri-axial accelerometers. The acceleration field is an important quantity in bio-mechanics problems, especially in the study of mild…
Grasping the same object in different postures is often necessary, especially when handling tools or stacked items. Due to unknown object properties and changes in grasping posture, the required grasping force is uncertain and variable.…
The present work deals with determining the necessary parameters considering a three dimensional model to simulate in a realistic way the turning process on machine tool. This paper is dedicated to the study of the self-excited vibrations…
Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…
We report the design, construction, and classroom use of a low-cost inertia dynamometer, built as a year-long project-based learning (PBL) activity with adult students at a Greek Evening Vocational High School (EPAL). The apparatus consists…
Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body…
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…