Related papers: Correction of magnetic optics and beam trajectory …
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Visual odometry estimates the motion of a moving camera based on visual input. Existing methods, mostly focusing on two-view point tracking, often ignore the rich temporal context in the image sequence, thereby overlooking the global motion…
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
Dynamic aperture is an important concept for the study of non-linear beam dynamics in circular accelerators. It describes the extent of the phase-space region where a particle's motion remains bounded over a given number of turns.…
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond…
In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera…
In this paper we present an expansion of the technique of characterizing nonlinear optics from off-energy orbits (NOECO) to cover harmonic sextupoles in storage rings. The existing NOECO technique has been successfully used to correct the…
The Local Position Measurement system (LPM) is one of the most precise systems for 3D position estimation. It is able to operate in- and outdoor and updates at a rate up to 1000 measurements per second. Previous scientific publications…
Orbital Angular Momentum (OAM)-based communication systems offer high-capacity multiplexing in line-of-sight (LOS) scenarios; yet, their performance is sensitive to nodal misalignment, which disrupts modal orthogonality, hindering the data…
The recently proposed MUonE experiment at CERN aims at providing a novel determination of the leading order hadronic contribution to the muon anomalous magnetic moment through the study of elastic muon-electron scattering at relatively…
Multiclass decomposition splits a multiclass classification problem into a series of independent binary learners and recomposes them by combining their outputs to reconstruct the multiclass classification results. Three widely-used…
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However,…
Benchmark object detection (OD) datasets play a pivotal role in advancing computer vision applications such as autonomous driving, and surveillance, as well as in training and evaluating deep learning-based state-of-the-art detection…
Beam prediction is an effective approach to reduce training overhead in massive multiple-input multiple-output (MIMO) systems. However, existing beam prediction models still exhibit limited generalization ability in diverse scenarios, which…
Reinforcement Learning (RL) presents a new approach for controlling Adaptive Optics (AO) systems for Astronomy. It promises to effectively cope with some aspects often hampering AO performance such as temporal delay or calibration errors.…
Patient outcomes in the medical field are improving through the use and incorporation of robotics technology and laser physics, e.g., the use of optical fibers and lasers in micro-surgery. This paper describes the design and implementation…
The low energy part of the FAST linear accelerator based on 1.3 GHz superconducting RF cavities was successfully commissioned. During commissioning, beam based model dependent methods were used to correct linear lattice and trajectory.…
Quantum dimer model is a low-energy and efficient model to study quantum spin systems and strong-correlated physics. As a foreseeing step and without loss of generality, we study the classical dimers on square lattice by means of Monte…