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Towards multimodal Haptics for teleoperation: Design of a Tactile Thermal Display

Hannes Bleuler, Giulio Rognini, Laura Santos Carreras

Surgical robotics is among the most challenging applications of motion control. Present and future systems are essentially master-slave systems. Our work focuses on force-feedback and haptic interfaces. In this context, we study multimodal haptic interface ...

2012

Closed-loop control of laser assisted chemical vapor deposition growth of carbon nanotubes

Yves Bellouard

Laser-assisted chemical vapor deposition growth is an attractive mask-less process for growing locally aligned nanotubes in selected places on temperature sensitive substrates. An essential parameter for a successful and reproducible synthesis of nanotubes ...

American Institute of Physics2012

Model Predictive Perimeter Control for Urban Areas with Macroscopic Fundamental Diagrams

Nikolaos Geroliminis, Mohsen Ramezani Ghalenoei, Jack Haddad

Recent analysis of empirical data from cities showed that a macroscopic fundamental diagram (MFD) of urban traffic provides for different network regions a unimodal, low-scatter relationship between network vehicle density and network space-mean flow. In t ...

Ieee Computer Soc2012

Multi-Set Point Intermittent Contact (MUSIC) Mode Atomic Force Microscopy of Oligothiophene Fibrils

Holger Frauenrath, Liangfei Tian, Ruth Szilluweit

We developed MUSIC-mode atomic force microscopy (AFM) to emulate intermittent contact mode AFM without a feedback loop and in the absence of lateral forces. This single-pass approach is based On maps of amplitude-phase-distance curves and allows the height ...

2012

Advanced control for modifying the acoustic impedance at the diaphragm of a loudspeaker

Hervé Lissek, Romain Boulandet, Etienne Thierry Jean-Luc Rivet

The control of low-frequency sound fields can be addressed efficiently through acoustic impedance matching. Basically, the diaphragm of electroacoustic transducers are used as refracting surface that controls the reaction of the boundaries in any surroundi ...

2012

The role of feedback in morphological computation with compliant bodies

Auke Ijspeert, Rolf Pfeifer

The generation of robust periodic movements of complex nonlinear robotic systems is inherently difficult, especially, if parts of the robots are compliant. It has previously been proposed that complex nonlinear features of a robot, similarly as in biologic ...

Springer Verlag2012

Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case

Dominique Bonvin, Philippe Müllhaupt

Feedback linearization requires a unique feedback law and a unique diffeomorphism to bring a system to Brunovsk´y normal form. Unfortunately, singularities might arise both in the feedback law and in the diffeomorphism. This paper demonstrates the ability ...

2012

Tangible interfaces: when physical-virtual coupling may be detrimental to learning

Pierre Dillenbourg, Patrick Jermann, Sébastien Cuendet

Tangible user interfaces (TUIs) have been the focus of much attention recently in the HCI and learning communities. Although TUIs seem to intuitively offer potential to increase the learning experience, there have been questions about whether they actually ...

2012

Approximate Feedback Capacity of the Gaussian Multicast Channel

Michael Christoph Gastpar, Naveen Goela

We characterize the capacity region to within log {2(M − 1)} bits/s/Hz for the M -transmitter K -receiver Gaus- sian multicast channel with feedback where each receiver wishes to decode every message from the M transmitters. Extending Cover-Leung’s achieva ...

2012

Demonstration of sawtooth period locking with power modulation in TCV plasmas

Olivier Sauter, Timothy Goodman, Federico Alberto Alfredo Felici

Corroborating evidence is presented that the sawtooth period can follow the modulation frequency of an externally applied high power electron cyclotron wave source. Precise, fast and robust open loop control of the sawtooth period with a continuously chang ...

2012

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