Publications associées à Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

A machine learning architecture for including wave breaking in envelope-type wave models

Wave breaking is a complex physical process about which open questions remain. For some applications, it is critical to include breaking effects in phase-resolved envelope-based wave models such as the non-linear Schr & ouml;dinger. A promising approach is ...

Pergamon-Elsevier Science Ltd2024

Parity in bacterial communities and resistomes: Microplastic and natural organic particles in the Tyrrhenian Sea

Florian Frédéric Vincent Breider, Sylvain Coudret

Petroleum-based microplastic particles (MPs) are carriers of antimicrobial resistance genes (ARGs) in aquatic environments, influencing the selection and spread of antimicrobial resistance. This research characterized MP and natural organic particle (NOP) ...

2024

Match Normalization: Learning-Based Point Cloud Registration for 6D Object Pose Estimation in the Real World

Mathieu Salzmann, Zheng Dang

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches have shown remarkable success on synthetic datasets, we have observed them to fail in the presence of real-world data. We ...

Ieee Computer Soc2024

Soft robotics for farm to fork: applications in agriculture & farming

Josephine Anna Eleanor Hughes, Kai Christian Junge

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...

Iop Publishing Ltd2024

Wave-momentum shaping for moving objects in heterogeneous and dynamic media

Stefan Rotter, Romain Christophe Rémy Fleury, Bakhtiyar Orazbayev, Matthieu Francis Malléjac

Light and sound waves can move objects through the transfer of linear or angular momentum, which has led to the development of optical and acoustic tweezers, with applications ranging from biomedical engineering to quantum optics. Although impressive manip ...

2024

High energy-density electrostatic actuators for soft robotics

Sylvain Thomas Schaller

This thesis reports high energy-density electrostatic actuators for use in soft robotics. This thesis has two main parts: a) a detailed study of electro-adhesion using microfabricated electrodes, and b) a flexi-ble fiber-shaped linear motor. Electro-adhesi ...

EPFL2024

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Josephine Anna Eleanor Hughes

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

Mary Ann Liebert, Inc2024

Adsorption of Copper by Naturally and Artificially Aged Polystyrene Microplastics and Subsequent Release in Simulated Gastrointestinal Fluid

Florian Frédéric Vincent Breider, Thibault Béranger Masset, Lu Zhou

Microplastics, especially aged microplastics can become vectors of metals from environment to organisms with potential negative effects on food chain. However, a few studies focused on the bioavailability of adsorbed metals and most studies related to aged ...

2024

Towards General-Purpose Decentralized Computing with Permissionless Extensibility

Enis Ceyhun Alp

Smart contracts have emerged as the most promising foundations for applications of the blockchain technology. Even though smart contracts are expected to serve as the backbone of the next-generation web, they have several limitations that hinder their wide ...

EPFL2024

Mean flow modeling in high-order nonlinear Schrodinger equations

Debbie Eeltink

The evaluation and consideration of the mean flow in wave evolution equations are necessary for the accurate prediction of fluid particle trajectories under wave groups, with relevant implications in several domains, from the transport of pollutants in the ...

2023

Stochastic particle transport by deep-water irregular breaking waves

Debbie Eeltink

Correct prediction of particle transport by surface waves is crucial in many practical applications such as search and rescue or salvage operations and pollution tracking and clean-up efforts. Recent results by Deike et al. (J. Fluid Mech., vol. 829, 2017, ...

Cambridge University Press2023

Large-scale detection of marine debris in coastal areas with Sentinel-2

Devis Tuia, Marc Conrad Russwurm

Detecting and quantifying marine pollution and macroplastics is an increasingly pressing ecological issue that directly impacts ecology and human health. Here, remote sensing can provide reliable estimates of plastic pollution by regularly monitoring and d ...

2023

Improved marine debris detection in satellite imagery with automatic refinement of coarse hand annotations

Devis Tuia, Marc Conrad Russwurm, Elif Dilge Gül

Plastic litter is a major environmental hazard that endangers human, animal, and plant health on the planet. A substantial portion of plastic pollutants is washed from rivers and beaches into the oceans and aggregates at the surface as marine debris before ...

2023

Temporal Prediction of Landslide-Generated Waves Using a Theoretical-Statistical Combined Method

Christophe Ancey, Zhenzhu Meng, Yating Hu

For the prediction of landslide-generated waves, previous studies have developed numerous empirical equations to express the maximums of wave characteristics as functions of slide parameters upon impact. In this study, we built the temporal relationship be ...

MDPI2023

Dissipative Solitons and Switching Waves in Dispersion-Modulated Kerr Cavities

Rui Ning Wang, Tobias Kippenberg, Miles Henry Anderson, Alexey Tikan, Aleksandr Tusnin, Alisa Davydova

We theoretically and experimentally investigate the formation of dissipative coherent structures in Kerr nonlinear optical microresonators, whose spectrum encompasses an integrated dispersion that exceeds the cavity free-spectral range. We are able to acce ...

American Physical Society2023

Electroadhesive gripping system and method for gripping an object

Herbert Shea, Krishna Manaswi Digumarti, Vito Cacucciolo

An electroadhesive gripping system and a method for gripping and manipulating an object are disclosed. The invention provides a novel approach particularly useful to pick fabrics or otherwise flat and flexible objects including a method relying on electroa ...

2023

High-performance triboelectric nanogenerator via photon-generated carriers for green low-carbon system

Xin Chen

Enhancing the surface charge density and reducing the output impedance via innovative techniques are essential to accelerate the commercialization of triboelectric nanogenerators (TENGs). However, methods for increasing output performance have numerous lim ...

Elsevier2023

A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control

Colin Neil Jones, Yingzhao Lian, Yuning Jiang

Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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

Computational design and additive manufacturing of electromagnetic coils

Adrien Jean-Michel Thabuis

The modern world is heavily reliant on electromagnetic devices to convert mechanical energy into electrical energy and vice versa. These devices are fundamental to powering our society, and the growing need for automated production lines and electrified tr ...

EPFL2023