PURPOSE To compare 2D and 3D echo-planar imaging (EPI) in a higher cognitive level fMRI paradigm. In particular, to study the link between the presence of task-correlated physiological fluctuations and motion and the fMRI contrast estimates from either 2D EPI or 3D EPI datasets, with and without adding nuisance regressors to the model. A signal model in the presence of partly task-correlated fl...

Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Purcell’s swimmer. By incorporating out-of-plane motion of the outer limbs, this mechanism generalizes the planar Purcell’s swimmer, which has been widely studied in the literature. Such an evolution of the limbs’ motion...

This thesis describes a method of vision based station keeping and docking for floating robots. Due to the motion disturbances in the environment, these tasks are important to keep the vehicle stabilized relative to an external reference frame. A vision-based tracking system is used to measure the image deformations, as the vehicle moves with respect to a docking station. A planar surface is ch...

This paper presents a control strategy which allows a manipulator/ camera system to track objects with planar motion while simultaneously avoiding kinematic singularities by moving in directions along which the tracking task space is unconstrained. The projection of a cartesian manipulability gradient on these directions of motion is used to determine the magnitude and direction of the required...

Particle-in-cell and hybrid electron-Boltzmann simulations of planar and cylindrical Langmuir probes are compared with various probe theories. Floating potentials for planar and cylindrical probes are calculated and significant deviations from the typical approximation used for argon discharges of 5Te are shown. The interpretation of simulated ion saturation currents by the orbital motion limit...

This article describes a pipeline that receives as input a sequence of images acquired by a calibrated stereo rig and outputs the camera motion and a Piecewise-Planar Reconstruction (PPR) of the scene. It firstly detects the 3D planes viewed by each stereo pair from semi-dense depth estimation. This is followed by estimating the pose between consecutive views using a new closed-form minimal alg...