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Centroidal momentum observer: Towards whole-body robust control of legged robots subject to uncertainties
(IEEE, 2022)
This paper aims to provide robust dynamic motion control and eliminate parameter uncertainty in single-legged robots with a centroidal momentum-based control algorithm. In order to ensure the continuity of the movement ...
Evaluating the accuracy of rietveld analysis for diffraction data from nanocrystalline powders
(International Union of Crystallography, 2022-08)
N/A
Sensorless position control of solenoid actuators for soft landing using super-twisting sliding mode control
(SAGE, 2022-07-24)
This article presents an open-loop control methodology to achieve lower seating velocities (i.e. soft-landing) for solenoid-based injector systems which are widely used in automotive as fuel injection valves or gas exchange ...
Accuracy limits of pair distribution function analysis in structural characterization of nanocrystalline powders by X-ray diffraction
(Turkish Chemical Society, 2022)
We report the minimum errors of structural parameters, namely lattice parameter, crystallite size, and atomic displacement parameters, expected from Pair Distribution Function (PDF) analysis of nanocrystalline gold powders ...
Investigation of pair distribution function method on structural analysis of nanocrystalline powders
(Int Union Crystallography, 2022-08)
N/A
Error bounds of pair distribution function analysis in characterization of thermal disorder in nanocrystals
(Int Union Crystallography, 2022-08)
N/A
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
(IEEE, 2022)
This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
Validation and comparison of 2D and 3D numerical simulations of flow in simplex nozzles
(Europe, Institute for Liquid Atomization and Spray Systems, ILASS, 2021-08-31)
Numerical simulations of pressure swirl atomizers are computationally expensive due to transient and multiphase flow behavior. In this study, 2D and 3D VOF simulations are performed for a geomerty which has high swirl ...
The effect of interface gradient distribution on unrealistic flow in 3D droplet simulations
(Europe, Institute for Liquid Atomization and Spray Systems, ILASS, 2021-08-31)
The purpose of this study is to investigate the origin of the parasitic current to provide accurate prediction of droplet surface interactions in Volume of Fluid (VOF) framework. The deformation of the droplet due to ...
Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
(IEEE, 2022)
This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active ...
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