This paper discusses the computation of the volumes swept by polyhedral objects moving through space and how these volumes can be used for sensor planning in active environments. It presents some new results in the computation of the approximate volumes swept by polyhedral objects as they undergo arbitrary motions. An algorithm is presented which approximates these volumes under a restricted cl...

This paper presents a collision detection method based on a swept volume approach. The proposed method computes a convex approximation (CSV) guaranteed to encompass the real swept volume (RSV). It is shown to be robust, which means that small errors in the model result in small errors in the result. It is first shown to be safe, which means that detections can ever be missed. It is then shown t...

We demonstrate a high-speed swept-source optical coherence tomography (SS-OCT) system, which is based on a highspeed swept light source and a Mach-Zehnder interferometer with a high-speed photodetector. The light source is an external-cavity laser tuned by a KTN electro-optic deflector, which exhibits a very fast response and large deflection. The scanning wavelength range is almost 80 nm up to...

Geometric volumes can be used as an intermediate representation for bridging the gap between task planning, with its symbolic preconditions and effects, and motion planning, with its continuous-space geometry. In this work, we use sets of convex polyhedra to represent the boundaries of objects, robot manipulators, and swept volumes of robot motions. We apply efficient algorithms for convex deco...

In the context of humanoid robot footstep planning based on a continuous action set, we conduct an analysis of the sensitivity of a walking pattern generator. Given a variation of an input vector, we calculate a bound on the variation of the volume swept by the robot lower body during the corresponding actions (steps). Since the input vector depends on real parameters, there is an infinite numb...

A novel linearized interrogation method is presented for a Fourier domain mode-locked (FDML) fiber Bragg grating (FBG) sensor system. In a high speed regime over several tens of kHz modulations, a sinusoidal wave is available to scan the center wavelength of an FDML wavelength-swept laser, instead of a conventional triangular wave. However, sinusoidal wave modulation suffers from an exaggerated...

We present an ultrahigh-speed optical coherence tomography (OCT) based on an all-optical swept-source with an A-scan rate of 40 MHz. The inertia-free swept-source, which has its output power of 41.2 mW and tuning range of 40 nm and high scan linearity in wavenumber with Pearson's correlation coefficients r of 0.9996, consists of a supercontinuum laser, an optical band-pass filter, a linearly ch...

This paper proposes an autopilot system that can be used to control the small scale rotorcraft during the flight test for linear-frequency-domain system identification. The input frequency swept is generated automatically as part of the autopilot control command. Therefore the bandwidth coverage and consistency of the frequency swept is guaranteed to produce high quality data for system identif...