Related papers: Optimization-based Feedback Manipulation Through a…
Extending the field of magnetic manipulation to conductive, non-magnetic objects opens the door for a wide array of applications previously limited to hard or soft magnetic materials. Of particular interest is the recycling of space debris…
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However, the collection of high-quality training data, the impact of…
Feedback traps are tools for trapping and manipulating single charged objects, such as molecules in solution. An alternative to optical tweezers and other single-molecule techniques, they use feedback to counteract the Brownian motion of a…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…
Micro-objects levitated in a vacuum are an exciting platform for precision sensing due to their low dissipation motion and the potential for control at the quantum level. Arrays of such sensors would offer increased sensitivity,…
This article proposes a multistage framework for time series analysis of user activity on touch sensitive surfaces in noisy environments. Here multiple methods are put together in multi stage framework; including moving average, moving…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Non-invasive therapeutic ultrasound methods, such as high-intensity focused ultrasound (HIFU), have limited access to tissue targets shadowed by bones or presence of gas. This study demonstrates that an ultrasonically actuated medical…
The long time effect of nonlinear perturbation to oscillatory linear systems can be characterized by the averaging method, and we consider first-order averaging for its simplest applicability to high-dimensional problems. Instead of the…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
We study feedback control of coupled nonlinear stochastic oscillators in a force field. We first consider the problem of asymptotically driving the system to a desired {\em steady state} corresponding to reduced thermal noise. Among the…
This paper presents an experimental and theoretical study of the nonlinear behavior of imperfect interfaces in multilayer structures using an equivalent vibro-acoustic approach. The multilayer system is modeled through a Zig-Zag…
Ultrasound computed tomography techniques have the potential to provide clinicians with 3D, quantitative and high-resolution information of both soft and hard tissues such as the breast or the adult human brain. Their practical application…
To obtain the initial pressure from the collected data on a planar sensor arrangement in photoacoustic tomography, there exists an exact analytic frequency domain reconstruction formula. An efficient realization of this formula needs to…
Mid-air acoustic streaming, where ultrasound induces steady fluid motion, could significantly affect the perception of haptic sensations, stability of levitation systems, and enable controlled transfer of odours (smells) through air by…
Nonlinear metasurfaces are multifunctional photonic elements that generate and control light, enabling multiple proof-of-principle applications, such as in nonlinear holography, beam shaping, and nanoscale sources of entangled photon pairs.…
Photoacoustic (PA) imaging systems based on clinical linear ultrasound arrays have become increasingly popular in translational PA research. Such systems can be more easily integrated in a clinical workflow due to the simultaneous access to…
In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention.…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…