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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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Siebinga, O. (author), Zgonnikov, A. (author), Abbink, D.A. (author)Traffic interactions between merging and highway vehicles are a major topic of research, yielding many empirical studies and models of driver behaviour. Most of these studies on merging use naturalistic data. Although this provides insight into human gap acceptance and traffic flow effects, it obscures the operational inputs of interacting...journal article 2024
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Visser, P.M. (author), Eijt, S.W.H. (author), de Nijs, J.V. (author)Context. Modified Newtonian dynamics (MOND) is a promising alternative to dark matter. To further test the theory, there is a need for fluid- and particle-dynamics simulations. The force in MOND is not a direct particle-particle interaction, but derives from a potential for which a nonlinear partial differential equation (PDE) needs to be...journal article 2024
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Sadowski, Adam Jan (author), Wong, W.J. (author), Li, Sai Chung Simon (author), Málaga-Chuquitaype, Christian (author)This article describes a dataset used to calibrate a finite element model of a thick circular hollow section (CHS) with varying d/t (diameter to thickness) ratio under cyclic loading which may be used as a computational model validation benchmark by researchers working on similar problems in structural and mechanical engineering. The test...journal article 2024
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Zhu, J. (author), Gienger, Michael (author), Franzese, G. (author), Kober, J. (author)Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only, which greatly limited the performance of the dressing assistance. In fact, healthcare professionals...journal article 2024
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Burzyński, Piotr (author), Pawłuszewicz, Ewa (author), Ambroziak, Leszek (author), Sharma, Suryansh (author)This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot’s movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone...journal article 2024
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Meijaard, J.P. (author)Kinematic joints are classified in lower pairs and higher pairs. Most multibody modelling techniques focus on lower pairs, because a complete classification in six types is available. Higher pairs are more diverse. In this article, higher pairs that can be exactly modelled by lower pairs are investigated. A complete classification of higher...journal article 2024
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Pustina, P. (author), Della Santina, C. (author), Boyer, Frederic (author), De Luca, Alessandro (author), Renda, Federico (author)Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? We not only show that the...journal article 2024
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Hulshof, Chantal M. (author), Schallig, Wouter (author), van den Noort, Josien C. (author), Streekstra, Geert J. (author), Kleipool, Roeland P. (author), GG Dobbe, Johannes (author), Maas, Mario (author), Harlaar, J. (author), van der Krogt, Marjolein M. (author)Segment coordinate systems (CSs) of marker-based multi-segment foot models are used to measure foot kinematics, however their relationship to the underlying bony anatomy is barely studied. The aim of this study was to compare marker-based CSs (MCSs) with bone morphology-based CSs (BCSs) for the hindfoot and forefoot. Markers were placed on...journal article 2024
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Gamper, Hannes (author), Pérez, Laura Rodrigo (author), Mueller, Andreas (author), Diaz Rosales, A. (author), Di Castro, Mario (author)This letter presents an inverse kinematics approach that combines two well-known Jacobian based methods, the task-priority framework and an optimization-based approach, such that tracking and optimization tasks can be executed simultaneously. The novelty of the proposed algorithm lies in the ability to smoothly switch between different tasks...journal article 2024
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de Jong, P.H. (author), Salvatori, Y.S. (author), Libonati, F. (author), Mirzaali, Mohammad J. (author), Zadpoor, A.A. (author)Shape morphing is the ability of objects to adapt to different shapes and reduce stress concentrations through increased contact area. This is a common trait of natural and engineered objects and has several applications in, among others, soft robotics and orthopedic implants. Shape morphing is achieved through flexible materials or rigid...journal article 2023
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Xin, Jianbin (author), Meng, Chuang (author), D'Ariano, Andrea (author), Schulte, F. (author), Peng, Jinzhu (author), Negenborn, R.R. (author)This paper investigates a novel routing problem of a multi-robot station in a manufacturing cell. In the existing literature, the objective is to minimize the cycle time or energy consumption separately. The routing problem considered in this paper aims to reduce the cycle time and energy consumption jointly for each robot while avoiding...journal article 2023
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Xin, Jianbin (author), Wu, Xuwen (author), D'Ariano, Andrea (author), Negenborn, R.R. (author), Zhang, Fangfang (author)Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...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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Spahn, M. (author), Wisse, M. (author), Alonso-Mora, J. (author)Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show...journal article 2023
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Álvarez-Márquez, J. (author), Labiano, A. (author), Guillard, P. (author), Dicken, D. (author), Argyriou, I. (author), Patapis, P. (author), Kavanagh, P. J. (author), Alberts, S. (author), Brandl, B.R. (author)Context. During the commissioning of the James Webb Space Telescope (JWST), the mid-infrared instrument (MIRI) observed NGC 6552 with the MIRI Imager and the Medium-Resolution Spectrograph (MRS). NGC 6552 is an active galactic nucleus (AGN) at a redshift of 0.0266 (DL = 120 Mpc) classified as a Seyfert 2 nucleus in the optical and Compton...journal article 2023
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Creevey, O. L. (author), Sarro, L. M. (author), Lobel, A. (author), Pancino, E. (author), Harrison, D. L. (author), Garofalo, A. (author), Brown, A. G.A. (author), de Bruijne, J. H.J. (author), Hladczuk, N.A. (author)Context.Gaia Data Release 3 (DR3) provides a wealth of new data products for the astronomical community to exploit, including astrophysical parameters for half a billion stars. In this work, we demonstrate the high quality of these data products and illustrate their use in different astrophysical contexts. Aims. We produce homogeneous samples...journal article 2023
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Sadegh Nojehdeh, Parvaneh (author), Khodabandeh, Amir (author), Khoshelham, Kourosh (author), Amiri Simkooei, A. (author)The provision of accurate ionospheric corrections in PPP-RTK enormously improves the performance of single-receiver user integer ambiguity resolution (IAR), thus enabling fast high precision positioning. While an external provider can disseminate such corrections to the user with a time delay, it is the task of the user to accurately time...journal article 2023
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Drimmel, R. (author), Romero-Gomez, M. (author), Chemin, L. (author), Ramos, P. (author), Poggio, E. (author), Ripepi, V. (author), Andrae, R. (author), Blomme, R. (author), Hladczuk, N.A. (author)Context. With the most recent Gaia data release, the number of sources with complete 6D phase space information (position and velocity) has increased to well over 33 million stars, while stellar astrophysical parameters are provided for more than 470 million sources, and more than 11 million variable stars are identified. Aims. Using the...journal article 2023
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Shajahan, M.T. (author), Breugem, W.P. (author)Particle-resolved Direct Numerical Simulations have been performed on the gravitational settling of mono-disperse solid spheres in a viscous fluid and triply periodic domain. In a comprehensive study, the bulk solid volume concentration was varied from ϕ=0.5 to 30%. To study the effect of inertia, three different Galileo numbers were...journal article 2023