Related papers: Model-based thermal drift compensation for high-pr…
The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parameters of motors for an accurate estimation of motor core…
Temperature is a major source of inaccuracy in high-sensitivity accelerometers and gravimeters. Active thermal control systems require power and may not be ideal in some contexts such as airborne or spaceborne applications. We propose a…
Thermal errors in machine tools significantly impact machining precision and productivity. Traditional thermal error correction/compensation methods rely on measured temperature-deformation fields or on transfer functions. Most existing…
In this paper, we introduce a new sensor-based control method that regulates (by means of robot motions) the heat transfer between a radiative source and an object of interest. This valuable sensorimotor capability is needed in many…
It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an…
Gravimeters fabricated with MEMS suffer from temperature-dependent drifts in their long-term stability. We analyze the thermal contributions to the signal, and we propose three mechanisms to mitigate their effects. The first one uses…
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-based, thermal model of the robot's actuators is devised,…
Varying temperatures influence the figure errors of freeform metal mirrors by thermal expansion. Furthermore, different materials lead to thermo-elastic bending effects. The article presents a derivation of a compensation approach for…
The current study aims to develop a non-intrusive Reduced Order Model (ROM) to reconstruct the full temperature field for a large-scale industrial application based on both numerical and experimental datasets. The proposed approach is…
Considering high-temperature heating, the equations of transient heat conduction model require an adaptation, i.e. the dependence of thermophysical parameters of the model on the temperature is to be identified for each specific material to…
Researchers have studied Stewart-Gough platforms, also known as Gough-Stewart platforms or hexapod platforms extensively for their inherent fine control characteristics. Their studies led to the potential deployment opportunities of…
Thermal modeling of complex systems faces the problems of an effective digitalization of the detailed geometry and properties of the system, calculation of the thermal flows and temperature maps, treatment of the thermal radiation including…
The operation of machine tools often demands a highly accurate knowledge of the tool center point's (TCP) position. The displacement of the TCP over time can be inferred from thermal models, which comprise a set of geometrically coupled…
Inspired by some recent experiments and numerical works related to nanoresonators, we perform classical molecular dynamics simulations to investigate the thermal expansion and the ability of the device to act as a strain sensor assisted by…
Organic charge transfer salts exhibit thermal expansion anomalies similar to those found in other strongly correlated electron systems. The thermal expansion can be anisotropic and have a non-monotonic temperature dependence. We show how…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
The number of electrified powertrains is ever increasing today towards a more sustainable future; thus, it is essential that unwanted failures are prevented, and a reliable operation is secured. Monitoring the internal temperatures of…
Electrically-actuated quadrupedal robots possess high mobility on complex terrains, but their motors tend to accumulate heat under high-torque cyclic loads, potentially triggering overheat protection and limiting long-duration tasks. This…
Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…