Design of an Optimized Self-Sensing Piezoelectric Cantilever for Micro-Robotic Applications
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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 ...
Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...
Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...
EPFL2023
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We compute three-term semiclassical asymptotic expansions of counting functions and Riesz-means of the eigenvalues of the Laplacian on spheres and hemispheres, for both Dirichlet and Neumann boundary conditions. Specifically for Riesz-means we prove upper ...
This project is carried out under the partnership between LMTS and LAI to develop an autonomous micro-robot called DE-Ansect. This low power micro-robot moves thanks to dielectric elastomere actuators. For now the robot follows a black line on the ground. ...
Multiscale or multiphysics partial differential equations are used to model a wide range of physical systems with various applications, e.g. from material and natural science to problems in biology or engineering. When the ratio between the smallest scale ...
EPFL2017
We study the global well-posedness and asymptotic behavior for a semilinear damped wave equation with Neumann boundary conditions, modeling a one-dimensional linearly elastic body interacting with a rigid substrate through an adhesive material. The key fea ...
World Scientific Publ Co Pte Ltd2024
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Quasi-static piezoelectric actuators are used in micro-robotics due to the small displacements they can achieve, and they have been proven to be suitable for Self-Sensing Actuation (SSA) applications. The morphology and material of an actuator, and therefo ...
2019
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot's flange. The calibration setup requires only ...
2019
We consider the nonlinear Korteweg-de Vries (KdV) equation in a bounded interval equipped with the Dirichlet boundary condition and the Neumann boundary condition on the right. It is known that there is a set of critical lengths for which the solutions of ...
