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

Publications associées (32)

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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

Hypervelocity impact testing on stochastic and structured open porosity cast Al-Si cellular structures for space applications

Andreas Mortensen

A hypervelocity (6.7–7.0 km/s) impact testing campaign was conducted using Ø 2 mm, 95% Al projectiles onto A357 aluminium alloy stochastic foams with 4–5 mm typical pore dimensions, or alternatively diamond cubic periodic structures of cast AlSi12 with a 6 ...

2018

Experimental study of large scale plunging jets

Michael Pfister

The lack of knowledge regarding air entrainment caused by large jets in hydraulic structures, such as downstream Pelton turbines, has led EDF (Electricité de France) to carry out a test series to optimize the La Coche Power plant. The data extracted from t ...

2016

Impact of deepwater mixing on hypoxia in Lake Geneva

Alfred Johny Wüest, Damien Bouffard, Robert Vincent Schwefel

Lake Geneva is recovering from its eutrophic past but no significant trend in the areal hypolimnetic oxygen depletion rate has been observed over the last 30 years. Due to the large depth of 309 m, the lake is not mixed completely every winter which can le ...

2015

Reduce ozone when and where it matters most

Athanasios Nenes

A research team at the Georgia Institute of Technology has developed a new way to help meet air quality standards that might reduce the costs of meeting the new ozone rule. Called APOM (Air Pollution Optimization Model), the method targets high-impact time ...

TradeFair Group Publications, Ltd2015

Alkynylation with Hypervalent Iodine Reagents

Jérôme Waser

Alkynes are among the most versatile functional groups in organic synthesis. They are also frequently used in chemical biology and materials science. Whereas alkynes are traditionally added as nucleophiles into organic molecules, hypervalent iodine reagent ...

Springer Verlag2015

Human needs as a driver for lighting design

Marilyne Andersen

Thanks to fundamental discoveries from neuroscience, biology and others, we have achieved a deeper understanding of how we interact with our environment. It is time to bring this knowledge back to architecture: we have access to the essential ingredients o ...

2013

Intra-particle dynamics and the impact response of granular chains

Alessandro Spadoni, Bart Van Damme

Low-frequency waves generated by an impact on an isostatic granular medium with vanishing confinement pressure are theorized to depend on rigid-particle collisions. According to this model, an impact generates a solitary wave spanning several particle diam ...

Epl Association, European Physical Society2013

Human-Driven Daylighting: research perspectives and outlook

Marilyne Andersen

Daylighting opens up a range of topics of investigation at the interface between architecture and building technology, especially when focusing on the integration of building performance in design. While it has a strong impact on human health and well-bein ...

2013

The Life and Death of the Air Film Beneath an Impacting Drop

John Martin Kolinski

Droplet impact is ubiquitous in our everyday experience; yet many mysteries associated with the phenomenon remain, including the role played by air during the impact process. When a liquid meets a solid surface in an atmosphere, it must drain the air benea ...

2012