Publications related to Servomotor

Acoustic Levitation apparatus (Robotics Practicals)

Mahmut Selman Sakar, Lorenzo Francesco John Noseda, Amit Yedidia Dolev, Bora Yalcin

The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Zenodo2023

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Aude Billard, Harshit Khurana

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

IEEE2023

Closed-loop technique using gain balance for fast Brillouin Optical Time-Domain Analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on the gain ratio of two probing frequencies is proposed for fast BOTDA, where the feedback is independent of probe and pump loss, making it robust in harsh environment. ...

Optica Publishing Group2022

Closed-loop technique based on gain balancing for real-time Brillouin optical time-domain analysis

Luc Thévenaz, Zhisheng Yang, Li Zhang, Ana Gabriela Correa Mena

A closed-loop servo control based on balancing the gain of two probing frequencies is proposed for real-time Brillouin optical time-domain analysis (BOTDA) without post-processing. With the most basic BOTDA hardware setup, the system can perform measuremen ...

2022

Self-Organized Laboratories for Smart Campus

Denis Gillet, Christophe Salzmann

A smart campus provides students who are geographically scattered with online tools to get access to learning resources and laboratories. Although these remote laboratories have the potential and capabilities to implement different learning experiments, mo ...

IEEE COMPUTER SOC2020

Design and development of the efficient anguilliform swimming robot- MAR

Auke Ijspeert, Peter Eckert, Anouk Looijestijn

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

2020

Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis

Mohamed Bouri, Renaud Ronsse, François André Heremans, Bruno Dehez

Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities. However, the added-value of s ...

IEEE2019

Design of a Highly Biomimetic and Fully-Actuated Robotic Finger

Daniel Thalmann

During design a mechanical structure such as a robotic finger, modeling parts and designing joints are two time-consuming steps. This paper presents a method for design and fabrication of a humanoid robotic finger that intends to mimic the human finger in ...

IEEE2019

Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules

Alcherio Martinoli, Hala Khodr, Bahar Haghighat

Self-assembling robotic systems form a subclass of distributed robotic systems that undertake the fundamental task of structure formation. These systems build desired target structures by putting their constituting robotic modules together in a distributed ...

Elsevier2019

An integrator-differentiator TIA using a multi-element pseudo-resistor in its DC servo loop for enhanced noise performance

Georg Fantner, Jens Anders

In this paper, we present an integrator-differentiator transimpedance amplifier (TIA) featuring a multielement pseudo-resistor (MEPR) in the DC feedback path for improved noise performance in the presence of non-zero DC input currents. The presented protot ...

IEEE2018

Soft Pneumatic Actuator Fascicles for High Force and Reliability

Jamie Paik, Matthew Aaron Robertson, Juan Manuel Florez Marin, Hamed Sadeghi

Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they ...

Mary Ann Liebert, Inc2017

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Jamie Paik, Matthew Aaron Robertson, Harshal Arun Sonar, Gunjan Agarwal

Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is ...

Nature Research2017

A Miniature Multimodal Actuator for Effective Tactile Feedback: Design and Characterization

Huaiqi Huang, Tao Li

We designed a miniature multimodal actuator by combining servomotors and vibrators. The actuator is mainly designed to non-invasively deliver tactile information to human skin by high-frequency vibration and low-frequency pressures simultaneously. By utili ...

Elsevier Science Bv2016

Real-Time Automated Modeling and Control of Self-Assembling Systems

Alcherio Martinoli, Massimo Mastrangeli, Grégory Mermoud, Utkarsh Upadhyay

We present the M3 framework, a formal and generic computational framework for modeling and controlling distributed stochastic systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework bu ...

Ieee2012

Augmented-SVM: Automatic space partitioning for combining multiple non-linear dynamics

Ashwini Shukla

Non-linear dynamical systems (DS) have been used extensively for building generative models of human behavior. Their applications range from modeling brain dynamics to encoding motor commands. Many schemes have been proposed for encoding robot motions usin ...

Curran Associates, Inc.2012

Fast polarizers installation for ECRH and ECE in TCV

Timothy Goodman, Federico Alberto Alfredo Felici, Laurie Porte

We report on the installation of fast polarizers for ECRH injection and ECE diagnostics, in the TCV tokamak. The main goal is to change the polarization during a plasma shot and react to changing conditions such as: plasma current and position, ECRH inject ...

2010

Reliable MEMS Actuators for Driving Large Microsystems

Nicolas Bernard Golay

Nowadays many consumer electronic devices are using small engines (micromotors). Thanks to technological innovation, the components can be imbedded into numerous portable systems. The key factors for a nomadic integration are: reduction of power consumptio ...

EPFL2010

Data-driven methods for tracking improvement

Mark Edward John Butcher

The tracking precision required by modern industrial applications is continuously increasing. Feedback control alone is often no longer capable of giving the necessary tracking accuracy and so the use of two-degree-of-freedom controllers, which include a f ...

EPFL2009

A Systematic Two-Layer Approach to Develop Web-based Experimentation Environments for Control Engineering Education

Denis Gillet, Christophe Salzmann

This paper introduces the systematic approach currently used by the Department of Computer Science and Automatic Control of the Spanish University of Distance Learning (UNED) to develop Web-based laboratories for distance learning of topics with high techn ...

2008

Plasticity of functional connectivity in the adult spinal cord

Grégoire Courtine

This paper emphasizes several characteristics of the neural control of locomotion that provide opportunities for developing strategies to maximize the recovery of postural and locomotor functions after a spinal cord injury (SCI). The major points of this p ...

2006