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We present a swept-source laser based on a quantum-dot semiconductor optical amplifier (QD SOA) (designed and manufactured by Innolume Gmbh, Germany) as the gain medium. The properties of the laser are as follows: center wavelength is 1220 nm, sweep range is 94 nm (up to 120 nm in manual mode), the peak laser power is 16 mW, and the sweep speed is 100 Hz. We apply the laser in an optical coherence...
The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension ldquotask spacerdquo has proven to be an invaluable tool for designing feedback controllers. When obstacles or other kinodynamic constraints complicate the feedback design process, motion planning techniques can often still find feasible paths, but these techniques are typically implemented in the...
Rapidly-exploring random trees (RRTs) are widely used to solve large planning problems where the scope prohibits the feasibility of deterministic solvers, but the efficiency of these algorithms can be severely compromised in the presence of certain kinodynamics constraints. Obstacle fields with tunnels, or tubes are notoriously difficult, as are systems with differential constraints, because the tree...
Kinodynamic planning algorithms have the potential to find feasible control trajectories which accomplish a task even in very nonlinear or constrained dynamical systems. Underactuation represents a particular form of a dynamic constraint, inherently present in many machines of interest (e.g., walking robots), and necessitates planning for long-term control solutions. A major limitation in motion planning...
We propose a fast approach for detecting collision- free swing-foot trajectories for legged locomotion over extreme terrains. Instead of simulating the swing trajectories and checking for collisions along them, our approach uses machine learning techniques to predict whether a swing trajectory is collision-free. Using a set of local terrain features, we apply supervised learning to train a classifier...
In this work we examine the control of center of mass and swing leg trajectories in LittleDog, a point-foot quadruped robot. It is not clear how to formulate a function to compute forward kinematics of the center of mass of the robot as a function of actuated joint angles because point-foot walkers have no direct actuation between the feet and the ground. Nevertheless, we show that a whole-body Jacobian...
This paper describes the possibility methods of estimation water content in oil impregnated cellulose insulation of HV transformer. The first method is based on measured or calculated relative humidity of transformer's oil. This method is usable for energizing transformers. The second method is based on measured dielectric dissipation factor and capacitance of insulation zones of transformer and dielectric...
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