相关论文: A Relativistic Motion Integrator: Numerical accura…
Today, the motion of spacecrafts is still described according to the classical Newtonian equations plus the so-called "relativistic corrections", computed with the required precision using the Post-(Post-)Newtonian formalism. The current…
The Relativistic Motion Integrator (RMI) consists in integrating numerically the EXACT relativistic equations of motion, for a given metric (corresponding to a gravitational field at first post-Newtonian order or higher), instead of…
We investigate the relativistic modeling of spacecraft motion in Mercury's post-Newtonian local coordinates. This investigation is motivated by the fact that Mercury's post-Newtonian gravitational field (as well as that of any other planet)…
The error scaling for Markov-Chain Monte Carlo techniques (MCMC) with $N$ samples behaves like $1/\sqrt{N}$. This scaling makes it often very time intensive to reduce the error of computed observables, in particular for applications in…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
The integration of the equations of motion in gravitational dynamical systems -- either in our Solar System or for extra-solar planetary system -- being non integrable in the global case, is usually performed by means of numerical…
This work addresses a central topic in Magnetic Resonance Imaging (MRI) which is the motion-correction problem in a joint reconstruction and registration framework. From a set of multiple MR acquisitions corrupted by motion, we aim at -…
The purpose of this work is the analysis of the consequences that desaturation maneuvers can have in the precise orbit determination corresponding to the Radio Science Experiment (MORE) of the BepiColombo mission to Mercury. This mission is…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
This paper presents an analytical model and a geometric numerical integrator for a tethered spacecraft model that is composed of two rigid bodies connected by an elastic tether. This model includes important dynamic characteristics of…
The 3:2 spin-orbit resonance between the rotational and orbital motions of Mercury results from a functional dependance on a tidal friction adding to a non-zero eccentricity with a permanent asymmetry in the equatorial plane of the planet.…
Accurate orbit modeling plays a key role in contemporary and future space missions such as GRACE and its successor GRACE-FO, GNSS, and altimetry missions. To fully exploit the technological capabilities and correctly interpret measurements,…
In this work, we present a symplectic integration scheme to numerically compute space debris motion. Such an integrator is particularly suitable to obtain reliable trajectories of objects lying on high orbits, especially geostationary ones.…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
Motion represents one of the major challenges in magnetic resonance imaging (MRI). Since the MR signal is acquired in frequency space, any motion of the imaged object leads to complex artefacts in the reconstructed image in addition to…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…
MRI, a widespread non-invasive medical imaging modality, is highly sensitive to patient motion. Despite many attempts over the years, motion correction remains a difficult problem and there is no general method applicable to all situations.…