Abstract
Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged-wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.

Abstract
This article focuses on a sensorial glove prototype capable of acquiring hand motion and estimating its pose. The presented solution features twelve inertial measurement units (IMUs) to track hand orientation. The sensors are attached to a glove to decrease the project cost. The system also focuses on sensor fusion algorithms for the IMUs and further implementations, presenting the algebraic quaternion algorithm (AQUA), used because of its modularity and intuitive implementation. An adaptation of a human hand model is proposed, explaining its advantages and its limitations. Considering that the calibration is a very important process in gyroscope performance, the online and offline calibration data was analyzed, pointing out its challenges and improvements. To better visualize the model and sensors a simulation was conducted in Unity.

Abstract
Throughout this article the execution of the motion planning for a robotic manipulator by means of Reinforcement Learning methods is studied. Towards this, an implementation based on a Wire and loop game is used as an example case to be solved. The loop is controlled in a single plane as the endeffector of the manipulator. The modeling of the problem and the process of training the agent is detailed. This allowed for the verification of the capacity of a learning based method, having produced, under the considered abstractions, satisfying results by gaining the capability of completing the path imposed by the wire in 23 seconds.

Abstract

Abstract
Context. The low wind effect (LWE) occurs at the aperture of 8-meter class telescopes when the spiders holding the secondary mirror get significantly cooler than the air. The effect creates phase discontinuities in the incoming wavefront at the location of the spiders. Under the LWE, the wavefront residuals after correction of the adaptive optics (AO) are dominated by low-order aberrations, pistons, and tip-tilts, contained in the pupil quadrants separated by the spiders. Those aberrations, called petal modes, degrade the AO performances during the best atmospheric turbulence conditions. Ultimately, the LWE is an obstacle for high-contrast exoplanet observations at a small angular separation from the host star. Aims. We aim to understand why extreme AO with a Shack-Hartmann (SH) wavefront sensor fails to correct for the petal tip and tilt modes, while these modes imprint a measurable signal in the SH slopes. We explore if the petal tip and tilt content of the LWE can be controlled and mitigated without an additional wavefront sensor. Methods. We simulated the sensitivity of a single subaperture of a SH wavefront sensor in the presence of a phase discontinuity across this subaperture. We explored the effect of the most important parameters: the amplitude of the discontinuity, the spider thickness, and the field of view. We then performed end-to-end simulations to reproduce and explain the behavior of extreme AO systems based on a SH in the presence of the LWE. We then evaluated the efficiency of a new mitigation strategy by running simulations, including atmosphere and realistic LWE phase perturbations. Results. For realistic parameters (i.e. a spider thickness at 25% of a SH subaperture, and a field of view of 3.5 lambda/d), we find that the sensitivity of the SH to a phase discontinuity is dramatically reduced, or even reversed. Under the LWE, a nonzero curl path is created in the measured slopes, which transforms into vortex-structures in the residuals when the loop is closed. While these vortexes are easily seen in the residual wavefront and slopes, they cannot be controlled by the system. We used this understanding to propose a strategy for controlling the petal tip and tilt modes of the LWE by using the measurements from the SH, but excluding the faulty subapertures. Conclusions. The proposed mitigation strategy may be of use in all extreme AO systems based on SH for which the LWE is an issue, such as SPHERE and GRAVITY+.

Abstract
The W. M. Keck Observatory Adaptive Optics (AO) facilities have been operating with a Field Programmable Gate Array (FPGA) based real time controller (RTC) since 2007. The RTC inputs data from various AO wavefront and tip/tilt sensors; and corrects image blurring from atmospheric turbulence via deformable and tip/tilt mirrors. Since its commissioning, the Keck I and Keck II RTCs have been upgraded to support new hardware such as pyramid wavefront and infrared tip-tilt sensors. However, they are reaching the limits of their capabilities in terms of processing bandwidth and the ability to interface with new hardware. Together with the Keck All-sky Precision Adaptive optics (KAPA) project, a higher performance and a more reliable RTC is needed to support next generation capabilities such as laser tomography and sensor fusion. This paper provides an overview of the new RTC system, developed with our contractor/collaborators (Microgate, Swinburne University of Technology and Australian National University), and the initial on-sky performance. The upgrade includes an Interface Module to interface with the wavefront sensors and controlled hardware, and a Graphical Processing Unit (GPU) based computational engine to meet the system's control requirements and to provide a flexible software architecture to allow future algorithms development and capabilities. The system saw first light in 2021 and is being commissioned in 2022 to support single conjugate laser guide star (LGS) AO, along with a more sensitive EMCCD camera. Initial results are provided to demonstrate single NGS & LGS performance, system reliability, and the planned upgrade for four LGS to support laser tomography.