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Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter proposes a method to eliminate this limitation by leveraging the Piecewise Constant...journal article 2024
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Daras, I. (author), March, G. (author), Pail, R. (author), Hughes, C. W. (author), Braitenberg, C. (author), Guntner, A. (author), Eicker, A. (author), Wouters, B. (author), Heller-Kaikov, B. (author)The joint ESA/NASA Mass-change And Geosciences International Constellation (MAGIC) has the objective to extend time-series from previous gravity missions, including an improvement of accuracy and spatio-temporal resolution. The long-term monitoring of Earth’s gravity field carries information on mass change induced by water cycle, climate...journal article 2024
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Li, Z. (author), Visser, Peter (author), Hughes, Anthony E. (author), Homborg, A.M. (author), Gonzalez Garcia, Y. (author), Mol, J.M.C. (author)The quest for novel alternatives to hexavalent-chromium-based corrosion inhibitors is of utmost significance and urgency. Strict international health and safety regulations, due to growing concerns regarding the impact of hexavalent chromium on human health and the environment, have pushed the commercial introduction of many alternative...journal article 2024
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Dwivedi, Yogesh K. (author), Kshetri, Nir (author), Hughes, Laurie (author), Balakrishnan, Janarthanan (author), Buhalis, Dimitrios (author), Dennehy, Denis (author), Dubey, Rameshwar (author), Janssen, M.F.W.H.A. (author)Transformative artificially intelligent tools, such as ChatGPT, designed to generate sophisticated text indistinguishable from that produced by a human, are applicable across a wide range of contexts. The technology presents opportunities as well as, often ethical and legal, challenges, and has the potential for both positive and negative...journal article 2023
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Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)We show that large language models (LLMs), such as ChatGPT, can guide the robot design process, on both the conceptual and technical level, and we propose new human–AI co-design strategies and their societal implications.journal article 2023
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Stella, F. (author), Guan, Qinghua (author), Della Santina, C. (author), Hughes, Josie (author)Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and manipulation capabilities and safe human-robot interactions. However, the interactions, or...conference paper 2023
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Pierallini, M. (author), Stella, F. (author), Angelini, Franco (author), Deutschmann, Bastian (author), Hughes, Josie (author), Bicchi, Antonio (author), Garabini, Manolo (author), Della Santina, C. (author)Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a prominent feedforward control action to...journal article 2023
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Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller OptimizationVicari, Andrea (author), Obayashi, Nana (author), Stella, F. (author), Raynaud, Gaetan (author), Mulleners, Karen (author), Della Santina, C. (author), Hughes, Josie (author)The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are needed. In this work we propose a new sensing approach for soft underwater slender structures based on embedded...conference paper 2023
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Piqué, F. (author), Stella, F. (author), Hughes, Josie (author), Falotico, Egidio (author), Della Santina, C. (author)Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft...conference paper 2023
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Dwivedi, Yogesh K. (author), Hughes, Laurie (author), Cheung, Christy M.K. (author), Conboy, Kieran (author), Duan, Yanqing (author), Dubey, Rameshwar (author), Janssen, M.F.W.H.A. (author), Jones, Paul (author), Sigala, Marianna (author), Viglia, Giampaolo (author)The desk rejection of submitted articles can be a hugely frustrating and demotivating process from the perspective of the researcher, but equally, a time-consuming and vital step in the process for the Editor, tasked with selecting appropriate articles that meet the required criteria for further review and scrutiny. The feedback from journal...contribution to periodical 2022
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Dwivedi, Yogesh K. (author), Hughes, Laurie (author), Baabdullah, Abdullah M. (author), Ribeiro-Navarrete, Samuel (author), Giannakis, Mihalis (author), Al-Debei, Mutaz M. (author), Dennehy, Denis (author), Metri, Bhimaraya (author), Buhalis, Dimitrios (author), Cheung, Christy M.K. (author), Conboy, Kieran (author), Doyle, Ronan (author), Dubey, Rameshwar (author), Dutot, Vincent (author), Felix, Reto (author), Goyal, D. P. (author), Gustafsson, Anders (author), Hinsch, Chris (author), Jebabli, Ikram (author), Janssen, M.F.W.H.A. (author), Kim, Young Gab (author), Kim, Jooyoung (author), Koos, Stefan (author), Kreps, David (author), Kshetri, Nir (author), Kumar, Vikram (author), Ooi, Keng Boon (author), Papagiannidis, Savvas (author), Pappas, Ilias O. (author), Polyviou, Ariana (author), Park, Sang Min (author), Pandey, Neeraj (author), Queiroz, Maciel M. (author), Raman, Ramakrishnan (author), Rauschnabel, Philipp A. (author), Shirish, Anuragini (author), Sigala, Marianna (author), Spanaki, Konstantina (author), Wei-Han Tan, Garry (author), Tiwari, Manoj Kumar (author), Viglia, Giampaolo (author), Wamba, Samuel Fosso (author)The metaverse has the potential to extend the physical world using augmented and virtual reality technologies allowing users to seamlessly interact within real and simulated environments using avatars and holograms. Virtual environments and immersive games (such as, Second Life, Fortnite, Roblox and VRChat) have been described as antecedents of...journal article 2022
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Junge, Kai (author), Obayashi, Nana (author), Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)Biology provides many examples of how body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid that uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary its maneuverability to help escape predators. Using this crinoid as inspiration, we develop a...journal article 2022
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Stella, F. (author), Obayashi, Nana (author), Della Santina, C. (author), Hughes, Josie (author)The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevertheless, the results produced with this class of models have been so far essentially...journal article 2022
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Alfarih, Mashael (author), Augusto, João B. (author), Knott, Kristopher D. (author), Fatih, Nasri (author), Kumar, M. Praveen (author), Boubertakh, Redha (author), Hughes, Alun D. (author), Moon, James C. (author), Weingärtner, S.D. (author), Captur, Gabriella (author)Background: To assess the feasibility of biventricular SAPPHIRE T<sub>1</sub> mapping in vivo across field strengths using diastolic, systolic and dark-blood (DB) approaches. Methods: 10 healthy volunteers underwent same-day non-contrast cardiovascular magnetic resonance at 1.5 Tesla (T) and 3 T. Left and right ventricular (LV, RV) T<sub>1<...journal article 2022
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Benayas Penas, M. (author), Hughes, Kyle M. (author), Sarli, Bruno V. (author), Ellison, Donald H. (author), Cowan, K.J. (author)A rapid, grid-based, target-search algorithm is presented to find candidate se-quences of small-body encounters for mission design. The algorithm is especially relevant for cases with large combinatorial spaces. In this paper, the al-gorithm is used to identify candidate flyby sequences of multiple Kuiper-Belt Ob-jects (KBOs). Before reaching...conference paper 2021
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Visser, P. (author), Ranade, S. (author), Laird, J. S. (author), Glenn, A. M. (author), Hughes, A. E. (author), Terryn, H.A. (author), Mol, J.M.C. (author)Depletion depths of inorganic components from a scribe edge in a polyurethane primer containing Li<sub>2</sub>CO<sub>3</sub>, MgO, BaSO<sub>4</sub> and TiO<sub>2</sub> beneath a topcoat, were determined using a range of techniques including SEM/EDS and proton induced X-ray and γ-ray emission spectroscopies. SEM of sections cut using an ion...journal article 2021
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Toshniwal, D. (author), Hughes, Thomas J.R. (author)Spaces of discrete differential forms can be applied to numerically solve the partial differential equations that govern phenomena such as electromagnetics and fluid mechanics. Robustness of the resulting numerical methods is complemented by pointwise satisfaction of conservation laws (e.g., mass conservation) in the discrete setting. Here we...journal article 2021
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Polynomial spline spaces of non-uniform bi-degree on T-meshes: combinatorial bounds on the dimensionToshniwal, D. (author), Mourrain, Bernard (author), Hughes, Thomas J. R. (author)Polynomial splines are ubiquitous in the fields of computer-aided geometric design and computational analysis. Splines on T-meshes, especially, have the potential to be incredibly versatile since local mesh adaptivity enables efficient modeling and approximation of local features. Meaningful use of such splines for modeling and approximation...journal article 2021
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Verkaik, J. (author), Hughes, J.D. (author), van Walsum, P.E.V. (author), Oude Essink, G. H. P. (author), Lin, H.X. (author), Bierkens, M.F.P. (author)Worldwide, billions of people rely on fresh groundwater reserves for their domestic, agricultural and industrial water use. Extreme droughts and excessive groundwater pumping put pressure on water authorities in maintaining sustainable water usage. High-resolution integrated models are valuable assets in supporting them. The Netherlands...journal article 2021
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Yves, Tramblay (author), Villarini, Gabriele (author), El Khalki, El Mahdi (author), Gründemann, Gaby J. (author), Hughes, Denis (author)Africa is severely affected by floods, with an increasing vulnerability to these events in the most recent decades. Our improved preparation against and response to this hazard would benefit from an enhanced understanding of the physical processes at play. Here, a database of 399 African stream gauges is used to analyze the seasonality of...journal article 2021