Publications associées à Resilient drones with morphing wings

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Lithium tantalate photonic integrated circuits for volume manufacturing

Tobias Kippenberg, Kai Huang, Chen Yang, Mikhail Churaev, Xinru Ji, Yang Chen, Zihan Li, Alisa Davydova, Xi Wang, Junyin Zhang

Electro-optical photonic integrated circuits (PICs) based on lithium niobate (LiNbO3) have demonstrated the vast capabilities of materials with a high Pockels coefficient1,2. They enable linear and high-speed modulators operating at complementary metal–oxi ...

2024

Dissipative Kerr soliton generation at 2μm in a silicon nitride microresonator

Camille Sophie Brès, Anton Stroganov, Ozan Yakar, Marco Clementi, Christian André Clément Lafforgue, Anamika Nair Karunakaran

Chip -scale optical frequency combs enable the generation of highly -coherent pulsed light at gigahertz-level repetition rates, with potential technological impact ranging from telecommunications to sensing and spectroscopy. In combination with techniques ...

Optica Publishing Group2024

HaloTag-Based Tools for Live-Cell Imaging and Elucidation of Organellar Redox Biology

Sarah Emmert

Redox homeostasis is a key factor in maintaining cellular function and health. The main determinant of the intracellular redox potential is ubiquitous glutathione (GSH) together with its oxidized dimer (GSSG). Importantly, both redox equilibrium and GSH ho ...

EPFL2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Graph generative deep learning models with an application to circuit topologies

Igor Krawczuk

Modern integrated circuits are tiny yet incredibly complex technological artifacts, composed of millions and billions of individual structures working in unison. Managing their complexity and facilitating their design drove part of the co-evolution of mode ...

EPFL2024

Generation of entangled photon pairs from a silicon bichromatic photonic crystal cavity

Matteo Galli, Thanavorn Poempool, Marco Clementi

Integrated quantum photonics leverages the on-chip generation of nonclassical states of light to realize key functionalities of quantum devices. Typically, the generation of such nonclassical states relies on whispering gallery mode resonators, such as int ...

Aip Publishing2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Rafael Botner Barmak

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

EPFL2024

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

Small-scale robotic devices for medical interventions in the brain

Lorenzo Francesco John Noseda, Mahmut Selman Sakar

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

2024

Investigating neural resource allocation in the sensorimotor control of extra limbs

Giulia Dominijanni

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

EPFL2024

Computational conceptual design — typological exploration of spatial truss systems through optimization

Corentin Jean Dominique Fivet, Jonas Warmuth, Pierluigi D'Acunto

Exploring a wide range of design options is crucial for every sound conceptual design process. In the conventional structural design workflow, optimization techniques are generally employed to generate well-performing design options. However, focusing only ...

International Association for Shell and Spatial Structures (IASS)2023

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Frank Centamori, Josephine Anna Eleanor Hughes, Max Mirko Polzin

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

2023

Training Efficient Controllers via Analytic Policy Gradient

Dario Floreano, Davide Scaramuzza, Valentin Wüest

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

New York2023

OASIS: Optimisation-based Activity Scheduling with Integrated Simultaneous choice dimensions

Michel Bierlaire, Janody Pougala, Timothy Michael Hillel

Activity-based models offer the potential of a far deeper understanding of daily mobility behaviour than trip-based models. However, activity-based models used both in research and practice have often relied on applying sequential choice models between sub ...

2023

In situ monitoring of femtosecond laser-induced modifications in dielectrics

Olivier Bernard

Over the last decades, the progress made in the generation of laser pulses shorter than a picosecond (10^-12 s) has allowed us to reach extreme optical power intensities exceeding 10^15 W cm^-2. This tremendous power has triggered an abundance of original ...

EPFL2023

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Hala Khodr

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023