相关论文: Advances in Fine Line-Of-Sight Control for Large S…
This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…
This paper addresses the lack of a general methodology for the controller synthesis of an optical instrument on-board a stratospheric balloon-borne platform, such as a telescope or siderostat, to meet pointing requirements that are becoming…
Modern extreme adaptive optics (AO) systems achieving diffraction-limited performance open up new possibilities for instrumentation. Especially important for the fields of spectroscopy and interferometry is that it enables the prospect to…
The need for both high quality images and lightweight structures is one of the main drivers in space telescope design. An efficient wavefront control system will become mandatory in future large observatories, retaining performance while…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
The level of maturity reached by robust control theory techniques nowadays contributes to a considerable minimization of the development time of an end-to-end control design of a spacecraft system. The advantage offered by this framework is…
High-Performance Adaptive Optics systems are rapidly spreading as useful applications in the fields of astronomy, ophthalmology, and telecommunications. This technology is critical to enable coronagraphic direct imaging of exoplanets…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing approaches is their reliance on unconstrained global matching…
This study presents the integrated control/structure design of a Large Flexible Structure, the Extra Long Mast Observatory (ELMO). The integrated design is performed using structured $\mathcal{H}_\infty$ control tools, developing the…
In this correspondence, we propose a diversity-achieving retroreflector-based fine tracking system for free-space optical (FSO) communications. We show that multiple retroreflectors deployed around the communication telescope at the aerial…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…
Modern and future high precision pointing space missions face increasingly high challenges related to the widespread use of large flexible structures. The development of new modeling tools which are able to account for the multidisciplinary…
Learning to control high-speed objects in dynamic environments represents a fundamental challenge in robotics. Table tennis serves as an ideal testbed for advancing robotic capabilities in dynamic environments. This task presents two…
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative…
Active optics is defined as the control of the shape and the alignment of the components of an optical system at low temporal frequencies. For modern large telescopes with flexible monolithic or segmented primary mirrors and also flexible…
Estimating the 6-degrees-of-freedom (6DoF) pose of a spacecraft from a single image is critical for autonomous operations like in-orbit servicing and space debris removal. Existing state-of-the-art methods often rely on iterative…
The latest high-performance telescopes for deep space observation employ very large primary mirrors that are made of smaller segments, like the JWST which employs monolithic beryllium hexagonal segments. A very promising development stage…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…