Indirect dark matter detection methods are used to observe the products of dark matter annihilations or decays originating from astrophysical objects where large amounts of dark matter are thought to accumulate. With ...
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KM3NeT/ORCA is an underwater neutrino telescope under construction in the Mediterranean Sea. Its primary scientific goal is to measure the atmospheric neutrino oscillation parameters and to determine the neutrino mass...
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KM3NeT/ORCA is a water Cherenkov neutrino detector under construction and anchored at the bottom of the Mediterranean Sea. The detector is designed to study oscillations of atmospheric neutrinos and determine the neut...
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The KM3NeT Collaboration has tackled a common challenge faced by the astroparticle physics community, namely adapting the experiment-specific simulation software to work with the CORSIKA air shower simulation output. ...
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Neutrinos described as an open quantum system may interact with the environment which introduces stochastic perturbations to their quantum phase. This mechanism leads to a loss of coherence along the propagation of th...
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This paper describes additive self-folding, an origami-inspired rapid fabrication approach for creating actuatable compliant structures. Recent work in 3-D printing and other rapid fabrication processes have mostly fo...
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This paper describes additive self-folding, an origami-inspired rapid fabrication approach for creating actuatable compliant structures. Recent work in 3-D printing and other rapid fabrication processes have mostly focused on rigid objects or objects that can achieve small deformations. In contrast, soft robots often require elastic materials and large amounts of movement. Additive self-folding is a process that involves cutting slices of a 3-D object in a long strip and then pleat folding them into a likeness of the original model. The zigzag pattern for folding enables large bending movements that can be actuated and controlled. Gaps between slices in the folded model can be designed to provide larger deformations or higher shape accuracy. We advance existing planar fabrication and self-folding techniques to automate the fabrication process, enabling highly compliant structures with complex 3-D geometries to be designed and fabricated within a few hours. We describe this process in this paper and provide algorithms for converting 3-D meshes into additive self-folding designs. The designs can be rapidly instrumented for global control using magnetic fields or tendon-driven for local bending. We also describe how the resulting structures can be modeled and their responses to tendon-driven control predicted. We test our design and fabrication methods on three models (a bunny, a tuna fish, and a starfish) and demonstrate the method's potential for actuation by actuating the tuna fish and starfish models using tendons and magnetic control.
The dispatching of labor and distribution of tasks among workers are important aspects of corporate operations. Labor dispatch refers to the dispatching of employees to meet with clients;however, dispatches commonly v...
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This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitab...
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This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.
Reproducibility of computational studies is a hallmark of scientific methodology. It enables researchers to build with confidence on the methods and findings of others, reuse and extend computational pipelines, and th...
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