Publications related to Circular motion

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Mean-field transport equations and energy theorem for plasma edge turbulent transport

Reinart Andreas J. Coosemans

This paper establishes a mean-field equation set and an energy theorem to provide a theoretical basis in view of the development of self-consistent, physics-based turbulent transport models for mean-field transport codes. A rigorous averaging procedure ide ...

Cambridge University Press2024

Efficient Temporally-Aware DeepFake Detection using H.264 Motion Vectors

Sabine Süsstrunk, Yufan Ren, Peter Arpad Grönquist, Alessio Verardo, Qingyi He

Video DeepFakes are fake media created with Deep Learning (DL) that manipulate a person’s expression or identity. Most current DeepFake detection methods analyze each frame independently, ignoring inconsistencies and unnatural movements between frames. Som ...

2024

Processing load, and not stimulus evidence, determines the duration of unconscious visual feature integration

Michael Herzog, Leila Drissi Daoudi - Kleinbauer, Lukas Vogelsang

Integration across space and time is essential for the analysis of motion, low contrast, and many more stimuli. A crucial question is what determines the duration of integration. Based on classical models of decision-making, one might expect that integrati ...

2023

Microgravity induces overconfidence in perceptual decision-making

Leyla Loued-Khenissi, Davide Scaramuzza, Christian Pfeiffer

Does gravity affect decision-making? This question comes into sharp focus as plans for interplanetary human space missions solidify. In the framework of Bayesian brain theories, gravity encapsulates a strong prior, anchoring agents to a reference frame via ...

Nature Portfolio2023

Increasing the Energy Efficiency of Gas Boosters for Hydrogen Storage and for Refueling Stations

Alfred Rufer

A new electrically driven gas booster is described as an alternative to the classical air-driven gas boosters known for their poor energetic efficiency. These boosters are used in small scale Hydrogen storage facilities and in refueling stations for Hydrog ...

MDPI2023

Bimanual dynamic grabbing and tossing of objects onto a moving target

Aude Billard, Michael Bosongo Bombile

Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...

Elsevier2023

Unveiling the Rolling to Kayak Transition in Propelling Nanorods with Cargo Trapping and Pumping

Ignacio Pagonabarraga Mora

Magnetic nanorods driven by rotating fields in water can be rapidly steered along any direction while generating strong and localized hydrodynamic flow fields. Here we show that, when raising the frequency of the rotating field, these nanopropellers underg ...

AMER CHEMICAL SOC2023

Benchmark exercise on image-based permeability determination of engineering textiles: Microscale predictions

Véronique Michaud, Baris Çaglar, Guillaume Clément Broggi

Permeability measurements of engineering textiles exhibit large variability as no standardization method currently exists; numerical permeability prediction is thus an attractive alternative. It has all advantages of virtual material characterization, incl ...

2023

Principle and Analysis of Radial-Force-Based Swirling Actuator for Low-Speed High-Torque Applications

Adrien Jean-Michel Thabuis

This article proposes a swirling actuator that uses the electromagnetic radial force and mechanical gears to generate rotational torque. The proposed actuator generates a rotating radial force between an inner stator and a swirler. The gears on the swirler ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Controlling motion at the nanoscale with light

Mintae Chung

Optical manipulation at the micro- nano-scale is a fascinating topic due to its inherent non-invasive properties and multifaceted applications in various fields such as biology, sensing, micro-fluidics, and micro- nano-robotics. This thesis involves intens ...

EPFL2022

Control-oriented modeling and analysis of tubular dielectric elastomer actuators dedicated to cardiac assist devices

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Armando Matthieu Walter, Ning Liu

This paper deals with the control-oriented modeling of a multilayered dielectric elastomer actuator based tube. The actuator is clamped at both sides and performs a radial displacement. The hyperelastic deformation and the viscoelastic performance, togethe ...

2022

Explanation of Optical Force and Torque on Nanomotors as the Interplay of Huygens Sources

Olivier Martin, Karim Achouri, Mintae Chung

Being able to understand how optical forces emerge from the interaction of light with matter is paramount for controlling the motion of nanoparticles as well as powering nanomotors. The purpose of this work is to uncover the physical mechanisms at the orig ...

IEEE2022

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

The Cen A galaxy group: Dynamical mass and missing baryons

Oliver Müller

The nearby elliptical galaxy Centaurus A (Cen A) is surrounded by a flattened system of dwarf satellite galaxies with coherent motions. Using a novel Bayesian approach, we measured the mean rotation velocity nu(rot) and velocity dispersion sigma(int) of th ...

EDP SCIENCES S A2022

Encoder-Decoder Models for Human Segmentation and Motion Analysis

Isinsu Katircioglu

Detecting people from 2D images and analyzing their motion in 3D have been long standing computer vision problems central to numerous applications such as autonomous driving and athletic training. Recently, with the availability of large amounts of trainin ...

EPFL2022

Thin Liquid Film Dynamics on a Spinning Spheroid

Edouard Boujo

The present work explores the impact of rotation on the dynamics of a thin liquid layer deposited on a spheroid (bi-axial ellipsoid) rotating around its vertical axis. An evolution equation based on the lubrication approximation was derived, which takes in ...

MDPI2021

Design and modelling of a tubular dielectric elastomer actuator with constrained radial displacement as a cardiac assist device

Yves Perriard, Yoan René Cyrille Civet, Armando Matthieu Walter, Jonathan André Jean-Marie Chavanne

In this paper, we propose an improvement of a dielectric elastomer actuator (DEA) based augmented aorta. The actuator is a multi-layered tubular DEA subject to the internal pressure of the blood. When activated in synchronisation with the heart, the DEA su ...

IOP PUBLISHING LTD2021

Survival of rotational alignment in H-2 scattering from Si(100)

Christopher Scott Reilly

We report a state-prepared, state-resolved study of rotational scattering of a diatomic molecule from a solid surface. Specifically, H-2 molecules with 80 meV kinetic energy are rotationally aligned in the j = 3 rotational state via stimulated Raman pumpin ...

AIP Publishing2021