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Related publications (19)

Haptics based collaborative steering control in automated driving environments

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

EPFL2023

PopTouch: A Submillimeter Thick Dynamically Reconfigured Haptic Interface with Pressable Buttons

Herbert Shea, Amir Firouzeh, Ayana Mizutani

The interactions with touchscreens rely heavily on vision: The virtual buttons and virtual sliders on a touchscreen provide no mechanical sense of the object they seek to represent. This work presents PopTouch: a 500 mu m thick flexible haptic display that ...

Wiley-V C H Verlag Gmbh2023

Evading Voltage-Based Intrusion Detection on Automotive CAN

Rohit Bhatia, Mathias Josef Payer, Duo Xu

The controller area network (CAN) is widely adopted in modern automobiles to enable communications among in-vehicle electronic control units (ECUs). Lacking mainstream network security capabilities due to resource constraints, the CAN is susceptible to the ...

INTERNET SOC2021

Motor-wheel for an omni-directional mechanism and vehicle using the same

Mohsen Falahi

The present invention relates to a motor-wheel for an omni-directional motion vehicle, comprising a ring-shaped structure with a central axis, presenting an outer radial surface and an inner radial surface, whereby the outer radial surface comprises a plur ...

2020

Motion planning for CAVs in mixed traffic, a study on roundabouts

Ezequiel González Debada

Driving is a very challenging task to automatize despite how naturally and efficiently it may come to experienced human drivers. The complexity stems from the need to (i) understand the surrounding context and forecast how it is likely to evolve, (ii) plan ...

EPFL2020

The role of optic flow pooling in insect flight control in cluttered environments

Dario Floreano, Julien Jean Denis Nicolas Lecoeur, Emily Baird

Flight through cluttered environments, such as forests, poses great challenges for animals and machines alike because even small changes in flight path may lead to collisions with nearby obstacles. When flying along narrow corridors, insects use the magnit ...

Nature Research2019

Cyclic Hypervalent Iodine Reagents for Azidation: Safer Reagents and Photoredox-Catalyzed Ring Expansion

Thierry Meyer, Jérôme Waser, Stefano Nicolai, Raphaël Michel Henri Simonet-Davin, Annik Nanchen, Sébastien Pierre Louis Alazet, Johannes Preindl

Azides are building blocks of increasing importance in synthetic chemistry, chemical biology, and materials science. Azidobenziodoxolone (ABX, Zhdankin reagent) is a valuable azide source, but its safety profile has not been thoroughly established. Herein, ...

2018

Interactive optimization for supporting multicriteria decisions in urban and energy system planning

Sébastien Cajot

Climate change and growing urban populations are increasingly putting pressure on cities to reduce their carbon emissions and transition towards efficient and renewable energy systems. This challenges in particular urban planners, who are expected to integ ...

EPFL2018

Updated braking forces for the assessment of road bridges

João Miguel De Oliveira Durães Alves Martins

Safety assessments of road bridges to braking events combine the braking force, acting along the longitudinal axis of the deck, with a vertical load that accounts for the vertical component of the traffic action. In modern design standards the vertical loa ...

EPFL2016

A Friction Compensation Control for Power Steering

Robert Fuchs, Philippe Müllhaupt

The effects of friction are critical to the dynamics of electric power steering (EPS). On the one hand, friction contributes to the stability of the system and filters some of the disturbances (road vibration, etc.). On the other hand, it affects negativel ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Auke Ijspeert, Peter Eckert, Karl Weinmeister

A reliable concept for steering was realized by in- tegrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramat- ically compared to a robot with rigid spine, while keeping controlling effort low ...

2015

Steerable PCA for Rotation-Invariant Image Recognition

Michaël Unser, Cédric René Jean Vonesch, Frédéric Stauber

In this paper, we propose a continuous-domain version of principal-component analysis, with the constraint that the underlying family of templates appears at arbitrary orientations. We show that the corresponding principal components are steerable. Our met ...

SIAM2015

Preliminary design of the ITER ECH Upper Launcher

René Chavan, Timothy Goodman, Olivier Sauter, Jean-Daniel Landis, Hartmut Zohm, Francisco Sanchez, Emanuele Poli

The design of the ITER electron cyclotron launchers recently reached the preliminary design level - the last major milestone before design finalization. The ITER ECH system contains 24 installed gyrotrons providing a maximum ECH injected power of 20 MW thr ...

Elsevier Science Sa2013

Quotient method for stabilising a ball-on-a-wheel system – Experimental results

Dominique Bonvin, Philippe Müllhaupt, Killian Mark Daly

This paper extends the quotient method proposed in [1] and applies it to stabilize a “ball-on-a-wheel” system. The quotient method requires a diffeomorphism to obtain the normal form of the input vector field and uses canonical pro- jection to obtain the q ...

2012

Progress on the ITER H&D EC Upper Launcher Steering-Mirror Control System

René Chavan, Timothy Goodman, Jean-Daniel Landis, Robert Bertizzolo, Francisco Sanchez, Frédéric Dolizy, Federico Alberto Alfredo Felici

The ITER Heating and Current Drive Upper Launcher (H&CD EC UL) uses a pneumomechanical steering-mirror assembly (SMA) to steer the RF beams for their deposition in the appropriate location in the plasma to control magnetohydrodynamic activity (neoclassical ...

Institute of Electrical and Electronics Engineers2010

Wavelet Steerability and the Higher-Order Riesz Transform

Michaël Unser, Dimitri Nestor Alice Van De Ville

Our main goal in this paper is to set the foundations of a general continuous-domain framework for designing steerable, reversible signal transformations (a.k.a. frames) in multiple dimensions (d ≥ 2). To that end, we introduce a self-reversible, Nth-order ...

Institute of Electrical and Electronics Engineers2010

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Francesco Mondada, Roland Moser, Roland Siegwart, Gilles Caprari, Fabien Tâche

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

2009

Progress On The Iter Upper Launcher Millimeter Wave Design And Testing

René Chavan, Frédéric Dolizy, Federico Alberto Alfredo Felici

The main purpose of the ITER ECH upper launcher is to control magnetohydrodynamic activity, in particular neoclassical tearing modes, in the plasma. The mm-wave optical system is optimized to insure that the eight RF beams are all focused to a small beam w ...

2009

Neighboring-Extremal Control for Singular Dynamic Optimization Problems. II- Multiple-Input Systems

Sébastien Gros, Dominique Bonvin, Benoît Chachuat

Dynamic optimization provides a unified framework for improving process operations while taking operational constraints into account. In the presence of uncertainty, measurements can be incorporated into the optimization framework for tracking the optimum. ...

2009

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