相关论文: Electric field measurements made on a robotic plat…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a…
Contact electrification of dielectric grains forms the basis for a myriad of physical phenomena. However, even the basic aspects of collisional charging between grains are still unclear. Here we develop a new experimental method, based on…
Three-dimensional particle-in-cell simulations are employed to investigate electron transport characteristics in Hall thrusters, with particular focus on how magnetic field configuration affects the electron transport due to electron drift…
The recent discovery of electro-active polymers has shown great promises in the field of soft robotics, and was logically followed by experimental, numerical and theoretical developments. Most of these studies were concerned with systems…
The first of this two-paper series proposes and elaborates a concept of electric vehicle (EV)-based e-mobility system. To this end, models designed to reap the benefits of EVs' flexibility in the literature almost exclusively consider…
Experimental observations of confined granular materials in the presence of an electric field that induces cohesive forces are reported. The angle of repose is found to increase with the cohesive force. A theoretical model for the stability…
The self-force of classical electrodynamics on a charged "rigid" body of radius R is evaluated analytically for the body undergoing a slow (i.e., with a speed v<<c), slight (i.e., small compared to R), and temporary displacement from an…
We examine the stability of a soft dielectric plate deformed by the coupled effects of a mechanical pre-stress applied on its lateral faces and an electric field applied through its thickness under charge control. The electric field is…
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…
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…
The evolution of electric vehicles (EVs) is reshaping the automotive industry, advocating for more sustainable transportation practices. Accurately predicting EV charging behavior is essential for effective infrastructure planning and…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Electric field effect devices based on mesoscopic graphite are fabricated for galvanomagnetic measurements. Strong modulation of magneto-resistance and Hall resistance as a function of gate voltage is observed as sample thickness approaches…
Electric fields in a plasma that conducts a high-current pulse are measured as a function of time and space. The experiment is performed using a coaxial configuration, in which a current rising to 160 kA in 100 ns is conducted through a…
Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to…
Surfaces of planetary bodies can have strong electric fields, subjecting conductive grains to repulsive electrostatic forces. This has been proposed as mechanism to eject grains from the ground. To quantify this process, we study mm-sized…
In clouds of suspended particles (grains, droplets, spheres, crystals, etc.), collisions electrify the particles and the clouds, producing large electric potential differences over large scales. This is seen most spectacularly in the…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…