Haptic assistance improves tele-manipulation with two asymmetric slaves

Tele-manipulation of heavy loads typically requires the simultaneous use of two asymmetric slaves: a crane for vertical weight support; and a robot for accurate lateral positioning. The industrial standard prescribes a pair of operators for such tasks (one operator to control each slave), although in principle one operator might control both...

Stochastic Surrogates for Measurements and Computer Models of Fluids

Both measurements and computer simulations of fluids introduce a prediction problem. A Particle Image Velocimetry (PIV) measurement of a flow field results in a discrete grid of velocity vectors, from which we aim to predict the velocity field or related quantities. In Computational Fluid Dynamics (CFD), the output of the computer code depends...

Three-dimensional wake reconstruction of a flapping-wing MAV using a Kriging regression technique

The work explores the three-dimensional unsteady wake of a flapping-wing Micro Air Vehicle (MAV) ‘DelFly II’, applying a Kriging regression technique for the spatial regression of time-resolved Stereoscopic Particle Image Velocimetry (Stereo-PIV) data. In the view of limited number of measurement planes, the particular objective of the...

Fast maximum likelihood estimate of the Kriging correlation range in the frequency domain

We apply Ordinary Kriging to predict 75,000 terrain survey data from a randomly sampled subset of < 2500 observations. Since such a Kriging prediction requires a considerable amount of CPU time, we aim to reduce its computational cost. In a conventional approach, the cost of the Kriging analysis would be dominated by the optimization routine...

Intermediate frequency band digitized high dynamic range radiometer system for plasma diagnostics and real-time Tokamak control

An intermediate frequency (IF) band digitizing radiometer system in the 100–200 GHz frequency range has been developed for Tokamak diagnostics and control, and other fields of research which require a high flexibility in frequency resolution combined with a large bandwidth and the retrieval of the full wave information of the mm-wave signals...