Robust control of electrohydraulic soft robots.

This article introduces a model-based robust control framework for electrohydraulic soft robots. The methods presented herein exploit linear system control theory as it applies to a nonlinear soft robotic system. We employ dynamic mode decomposition with control (DMDc) to create appropriate linear models from real-world measurements.

Neural dynamics of robust legged robots.

Legged robot control has improved in recent years with the rise of deep reinforcement learning, however, much of the underlying neural mechanisms remain difficult to interpret. Our aim is to leverage bio-inspired methods from computational neuroscience to better understand the neural activity of robust robot locomotion controllers. Similar to past work, we observe that terrain-based curriculum learning improves agent stability.

Distributed IMU Sensors for In-Field Dynamic Measurements on an Alpine Ski.

Modern ski design is an inherently time-consuming process that involves an iterative feedback loop comprised of design, manufacturing and in-field qualitative evaluations. Additionally consumers can only rely on qualitative evaluation for selecting the ideal ski, and due to the variation in skier styles and ability levels, consumers can find it to be an inconsistent and expensive experience. We propose supplementing the design and evaluation process with data from in-field prototype testing, using a modular sensor array that can be ported to nearly any ski.

Assessment of cyanotoxins in water and fish in an African freshwater lagoon (Lagoon Aghien, Ivory Coast) and the application of WHO guidelines.

In comparison with northern countries, limited data are available on the occurrence and potential toxicity of cyanobacterial blooms in lakes and ponds in sub-Saharan countries. With the aim of enhancing our knowledge on cyanobacteria and their toxins in Africa, we performed a 17-month monitoring of a freshwater ecosystem, Lagoon Aghien (Ivory Coast), which is used for multiple practices by riverine populations and for drinking water production in Abidjan city. The richness and diversity of the cyanobacterial community were high and displayed few variations during the entire survey.