Publication

Transitioning with confidence during contact/non-contact scenarios

Related publications (32)

Thermo-hydro-mechanical behaviour of the Callovo-Oxfordian claystone under thermal changes

Underground storage of radioactive waste is consensually recognised as the safest storage solution by European and worldwide countries relying mainly or partially on nuclear energy production. Over twenty years of research led by the French national agency ...

EPFL2024

Hot rocks: Constraining the thermal conditions of the Mistastin Lake impact melt deposits using zircon grain microstructures

Cyril Cayron

The production of superheated melt during hypervelocity impact events has been proposed to be a common occurrence on terrestrial planetary bodies. Recent direct evidence of superheated impact melt temperatures exceeding > 2370 degrees C from the Kamestasti ...

ELSEVIER2022

Calibration of ground surface albedo models

Christophe Ballif, Pierre-Jean Alet, Arttu Matias Tuomiranta

The emergence of bifacial photovoltaics as a serious option for large-scale power generation makes the accuracy of the in-situ estimation of ground surface albedo increasingly critical. Recent studies have evaluated the performance of different models but ...

PERGAMON-ELSEVIER SCIENCE LTD2022

South Sudan - State-of-the-Art on Flood Resilient Shelters

Edisson Xavier Estrella Arcos, André Ullal

One of the most observable consequences of climate change is the abrupt increment in the number and intensity of seasonal floods. This has a special impact on vulnerable communities and developing countries that experience a strong impact on their housing ...

2022

Rapid Elastic Contact: Image Processing and the Virtual Frame Technique (VFT)

Siqi Zheng

A central air bubble is observed to be maintained during the process of an elastic hemi-sphere impacting on a smooth rigid surface. The similar phenomenon has been found in droplet impact in other studies. The effect of air gap between the two solids has b ...

2020

The sediment challenge of Swiss river corridors interrupted by man-made reservoirs

Giovanni De Cesare, Pedro Filipe De Almeida Manso, Samuel Luke Vorlet, Christian Mörtl

Depending on their characteristics and management, man-made reservoirs can have a significant impact on the natural sediment continuity of rivers. We classify different reservoir types and describe potential risks for the dam and downstream river reach. Ou ...

CRC Press2020

Fat navigators and Moire phase tracking comparison for motion estimation and retrospective correction

Daniel Gallichan, Frédéric Gretsch

Purpose To compare motion tracking by 2 modern methods (fat navigators [FatNavs] and Moir' phase tracking [MPT]) as well as their performance for retrospective correction of very high resolution acquisitions. Methods A direct comparison of FatNavs and MPT ...

2020

Reproducibility warning: The curious case of polyethylene glycol 6000 and spheroid cell culture

Francesco Stellacci, Quy Ong Khac, Ahmet Bekdemir, Zhi Luo

Reproducibility of results is essential for a well-designed and conducted experiment. Several reasons may originate failure in reproducing data, such as selective reporting, low statistical power, or poor analysis. In this study, we used PEG6000 samples fr ...

2020

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

Aude Billard, Seyed Sina Mirrazavi Salehian

In this work, we propose a dynamical system based strategy for establishing a stable contact with convex shaped surfaces during non-contact/contact scenarios. A contact is called stable if the impact occurs only once and the robot remains in contact with t ...

2018

A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions

Aude Billard, Seyed Sina Mirrazavi Salehian

Many daily life tasks require precise control when making contact with surfaces. Ensuring a smooth transition from free motion to contact is crucial as incurring a large impact force may lead to unstable contact with the robot bouncing on the surface, i.e. ...

2018

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