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Kortman, Jelle (author)In the semiconductor industry, integrated circuits with nanometre scale structures are manufactured on silicon wafers. Particle contamination on the topside of the wafer can result in the defectivity of the entire die. In the ever-increasing efforts to create smaller structures onto a wafer particle contamination becomes more restrictive to...master thesis 2023
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van den Doel, Gregor J. (author), Herder, J.L. (author), Farhadi Machekposhti, D. (author)The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached to the coupler link of four-bar mechanisms to...journal article 2023
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Fuente, A. (author), Rivière-Marichalar, P. (author), Beitia-Antero, L. (author), Caselli, P. (author), Wakelam, V. (author), Esplugues, G. (author), Rodríguez-Baras, M. (author), Navarro-Almaida, D. (author), Cazaux, S.M. (author)Context. Gas phase Elemental abundances in molecular CloudS (GEMS) is an IRAM 30-m Large Program aimed at determining the elemental abundances of carbon (C), oxygen (O), nitrogen (N), and sulfur (S) in a selected set of prototypical star-forming filaments. In particular, the elemental abundance of S remains uncertain by several orders of...journal article 2023
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Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso Mora, J. (author)This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...journal article 2023
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Fang, G. (author)Soft robots that are built from materials with mechanical properties similar to those of living tissues can achieve tasks like never before in comparison to conventional rigid robots. Powered by the compliance of soft materials and novel structure designs, complex motion (e.g., bending, twisting, and extension) can be accomplished in robotic...doctoral thesis 2022
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Resink, Jaap (author)Kinematic couplings (KCs) are a subclass of couplings known for reaching unmatched precision, through relatively simplistic designs. The 3-vee-groove and Kelvin clamp are the archetype designs, and are still being further investigated for their potential. One of the limiting factors in the field of kinematic couplings is the lack of proper...master thesis 2022
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TSAKIRAKIS, GIORGOS (author)Small UAVs and in particular the class of micro-UAVs, whose mass is below 2 kg, are constantly rising in popularity for personal as well as professional use, since they are beneficial in many fields such as defense, transportation, monitoring and agriculture. In spite of their advantages, UAVs can be used for terrorist attacks to fly over...master thesis 2022
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van der Meijs, Emiel (author)Labour in the agricultural sector is in short supply, while a large portion of the work is still being done manually. To speed up the work and guarantee the food supply of the future, Lely has started a project on agricultural automation. The aim of the project is to create a robot that can perform multiple repetitive tasks simultaneously, to...master thesis 2022
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Rekveld, Menno (author)The water authority ”Hunze en Aa’s” initiated a demonstration project adjacent to the Dollard where non traditional dike reinforcement strategies could be developed. For this project Sweco designed a sea dike with an outer slope more gentle than traditional. This dike is called the ”Wide Green Dike” (WGD) and has an outer slope of 1:7. This dike...master thesis 2022
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Boelens, Jelle (author)The study of human motion consists of the analysis of kinematics, dealing with joint angles, velocities and accelerations, and kinetics, which deals with joint torques and interaction forces. Traditionally, kinematics and kinetics are estimated from optical marker data and sometimes measured interaction forces. Inertial measurement units (IMUs)...master thesis 2022
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Houweling, Mark (author)Bulk handling grabs are often used for unloading bulk materials such as iron ore and coal from bulk carrying ships. To improve and compare virtual simulations of new grabs, accurate real life kinematic data of grabs is required. Moreover kinematic data can potentially provide insight in current use of grabs, which can be interesting information...master thesis 2022
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Greveling, Stan (author)The Delft Hand and Wrist model is a recently created musculoskeletal model in the OpenSim environment. The current model lacks a validation of the thumb muscles. Therefore, the main goal of this work is to perform a quantitative trend validation by analyzing the correlation between experimentally measured muscle activity data and muscle forces...master thesis 2022
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Kluwen, Daan (author)Rehabilitation robotics is a rapidly growing field in the engineering industry. Due to the high repeatability of motion, high therapy costs, and lack of proper quantitative assessment of patient status and progress, rehabilitation centers could benefit from the introduction of robotics. One such device already commercially available is the...master thesis 2022
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van Dijk, M.P. (author), van der Slikke, R.M.A. (author), Rupf, Rob (author), Hoozemans, Marco J.M. (author), Berger, Monique A.M. (author), Veeger, H.E.J. (author)In wheelchair sports, the use of Inertial Measurement Units (IMUs) has proven to be one of the most accessible ways for ambulatory measurement of wheelchair kinematics. A three-IMU configuration, with one IMU attached to the wheelchair frame and two IMUs on each wheel axle, has previously shown accurate results and is considered optimal for...journal article 2022
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Qi, Jiaming (author), Ma, Guangfu (author), Zhu, J. (author), Zhou, Peng (author), Lyu, Yueyong (author), Zhang, Haibo (author), Navarro-Alarcon, David (author)The robotic manipulation of composite rigid-deformable objects (i.e., those with mixed nonhomogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has not been sufficiently studied in the literature. To deal with this issue, in this article, we propose a...journal article 2022
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Bittner, M. (author), Yang, W. (author), Zhang, X. (author), Seth, A. (author), van Gemert, J.C. (author), van der Helm, F.C.T. (author)Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple de-coupled steps to estimate the kinematics of a person from videos. Most current techniques work in a multi-step...journal article 2022
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Chen, Shibiao (author), Cheng, Gang (author), Pang, Y. (author)To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. The movements and driving forces of the parallel manipulator under the required motion and loading...journal article 2022
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Odolinski, Robert (author), Teunissen, P.J.G. (author)The best integer equivariant (BIE) estimator for the multivariate t-distribution was introduced in Teunissen (J Geod, 2020. https://doi.org/10.1007/s00190-020-01407-2), where it was shown that the BIE-weights will be different from that of the normal distribution. In this contribution, we analyze these BIE estimators while making use of multi...journal article 2022
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Xing, Xuejun (author), Guo, Jianwei (author), Nan, L. (author), Gu, Qingyi (author), Zhang, Xiaopeng (author), Yan, Dong Ming (author)The point pair feature (PPF) is widely used in industrial applications for estimating 6D poses of known objects from unrecognized point clouds. The key to the success of PPF matching is to establish correct 3D correspondences between the object and the scene, i.e., finding as many valid similar point pairs as possible. Thus, a set of...journal article 2022
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Al Borno, Mazen (author), O’Day, Johanna (author), Ibarra, Vanessa (author), Dunne, James (author), Seth, A. (author), Habib, Ayman (author), Ong, Carmichael (author), Hicks, Jennifer (author), Uhlrich, Scott (author), Delp, Scott (author)Background: The ability to measure joint kinematics in natural environments over long durations using inertial measurement units (IMUs) could enable at-home monitoring and personalized treatment of neurological and musculoskeletal disorders. However, drift, or the accumulation of error over time, inhibits the accurate measurement of movement...journal article 2022