Related papers: Modular multi-axis stepper motor driver with remot…
Rotor position feedback is required in many industrial and automotive applications, e.g. for field-oriented control of brushless motors. Traditionally, magnetic sensors, resolvers or optical encoders are used to measure the rotor position.…
Piezo-stepper actuators are used in many nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of…
Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
This article proposes a new way to construct computationally efficient `wrappers' around fine scale, microscopic, detailed descriptions of dynamical systems, such as molecular dynamics, to make predictions at the macroscale `continuum'…
Dedicated accelerometers have been developed for the MICROSCOPE mission taking into account the specific range of acceleration to be measured on board the satellite. Considering one micro-g and even less as the full range of the instrument,…
Solutions for mobility management in wireless networks have been investigated and proposed in various research projects and standardization bodies. With the continuing deployment of different access networks, the wider range of applications…
The MMT Adaptive optics exoPlanet characterization System (MAPS) is currently in its engineering phase, operating on-sky at the MMT Telescope on Mt. Hopkins in southern Arizona. The MAPS Adaptive Secondary Mirror's actuators are controlled…
The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated…
A modular and scalable converter for medium voltage (MV) AC to low voltage (LV) DC power conversion is proposed; single-phase-modules (SPMs), each consisting of an active-front-end (AFE) stage and an isolated DC-DC stage, are connected in…
Instructional videos are an important resource to learn procedural tasks from human demonstrations. However, the instruction steps in such videos are typically short and sparse, with most of the video being irrelevant to the procedure. This…
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
A CMOS harmonic signal LC oscillator driver for automotive applications working in a harsh environment with high safety critical requirements is described. The driver can be used with a wide range of external components parameters (LC…
A prototype device capable of moving a radioactive calibration source to multiple positions was operated at millikelvin temperatures using a modified commercial stepper motor. It was developed as an in-situ calibration strategy for…
We study the problem of learning to perform multi-stage robotic manipulation tasks, with applications to cable routing, where the robot must route a cable through a series of clips. This setting presents challenges representative of complex…
Driverless road maintenance could potentially be highly beneficial to all its stakeholders, with the key goals being increased safety for all road participants, more efficient traffic management, and reduced road maintenance costs such that…
Binary on/off thrusters are commonly used for spacecraft attitude and position control during proximity operations. However, their discrete nature poses challenges for conventional continuous control methods. The control of these discrete…