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Creators/Authors contains: "Lensgraf, Samuel"

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  1. ; ; ; ; ( , IEEE)
    Free, publicly-accessible full text available May 13, 2025
  2. ; ; ; ; ( , IEEE)
    Free, publicly-accessible full text available May 13, 2025
  3. ; ; ( , IEEE)
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  4. ; ; ; ; ; ; ; ( , ACM International Conference on Mobile Systems, Applications, and Services (MobiSys))
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  5. ; ; ; ; ; ( , Robotics: Science and Systems)
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  6. ; ; ; ; ; ; ; ( , Proceedings of Robotics: Science and Systems)
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  7. ; ; ; ; ; ( , Ocean)
    null (Ed.)
    This paper presents an optimized design of research-oriented ASVs and a systematic design evaluation methodology for reliable in-water sensing. The objective is to minimize the interference on sensor readings by any ASV maneuver. The design space includes motors and sensors locations. In addition, this paper analyzes modularity - i.e., the effects of new sensor's installation. All prototype designs are thoroughly tested using hydrostatic analyses, Computational Fluid Dynamics (CFD) simulations, and real-world field testings. Quantitative metrics, including trim, pitch, velocity magnitude of flow, and turbulence, are used to compare different configurations. Our experiments show that a motor configuration at the back part of the straights hulls is the most optimal design, resulting in high-quality data collection. 
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  8. ; ; ; ; ; ; ; ; ; ( , International Conference on Robotics and Automation)
    This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of collections of modular robots, structural stability perturbation analysis, tolerance analysis for mechanical systems, and formation control of mobile robots. 
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  9. ; ; ; ; ; ; ; ; ; ( , International Conference on Robotics and Automation (ICRA))
    This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of collections of modular robots, structural stability perturbation analysis, tolerance analysis for mechanical systems, and formation control of mobile robots. 
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    Accepted Manuscript Full Text Available