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This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is shown that the tethered UAV is able to maintain a non-zero attitude while hovering in a constant position. The control(More)
Doped catalyst-free GaAs nanowires have been grown by molecular beam epitaxy with the gallium-assisted method. The spatial dependence of the dopant concentration and resistivity have been measured by Raman spectroscopy and four point electrical measurements. Along with theoretical considerations, the doping mechanisms have been revealed. Two competing(More)
—This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in the state space into constraints on the Lyapunov function and then modulating the reference velocity so as to limit(More)
— This paper addresses the problem of using un-manned aerial vehicles for the transportation of suspended loads. The proposed solution introduces a novel control law capable of steering the aerial robot to a desired reference while simultaneously limiting the sway of the payload. The stability of the equilibrium is proven rigorously through the application(More)
Surface X-ray diffraction has been employed to elucidate the structure of the interface between a well-characterized (001) surface of 0.1 wt % Nb−SrTiO 3 and liquid H 2 O. Results are reported for the clean surface, the surface in contact with a drop of liquid water, and the surface after the water droplet has been removed with a flow of nitrogen. The(More)
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