Related papers: Automated Identification of Slip System Activity F…
Due to recent successes of a statistical-based nonlocal continuum crystal plasticity theory for single-glide in explaining various aspects such as dislocation patterning and size-dependent plasticity, several attempts have been made to…
Existing Weakly-Supervised Change Detection (WSCD) methods often encounter the problem of "instance lumping" under scene-level supervision, particularly in scenarios with a dense distribution of changed instances (i.e., changed objects). In…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…
We employ a domain decomposition approach with Lagrange multipliers to implement fault slip in a finite-element code, PyLith, for use in both quasi-static and dynamic crustal deformation applications. This integrated approach to solving…
This paper presents a decentralized methodology for detecting and mitigating flapping phenomena in power systems, primarily caused by the operation of discrete devices. The proposed approach applies moving-window autocorrelation to local…
In this paper, we investigate the feasibility of using subspace system identification techniques for estimating transient Structural-Thermal-Optical Performance (STOP) models of reflective optics. As a test case, we use a Newtonian…
The Visual Simultaneous Localization and Mapping (V-SLAM) system has seen significant development in recent years, demonstrating high precision in environments with limited dynamic objects. However, their performance significantly…
An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the task. In this work, we propose a novel regrasp…
Local Intrinsic Dimensionality (LID) has shown strong potential for identifying anomalies and outliers in high-dimensional data across a wide range of real-world applications, including landslide failure detection in granular media. Early…
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…
The MIT Sloop system indexes and retrieves photographs from databases of non-stationary animal population distributions. To do this, it adaptively represents and matches generic visual feature representations using sparse relevance feedback…
Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…
In recent years, differential privacy has seen significant advancements in image classification; however, its application to video activity recognition remains under-explored. This paper addresses the challenges of applying differential…
Simultaneous Localization & Mapping (SLAM) is the process of building a mutual relationship between localization and mapping of the subject in its surrounding environment. With the help of different sensors, various types of SLAM systems…
Hydrodynamic slip of Newtonian liquids is a new phenomenon, the origin of which is not yet clarified. There are various direct and indirect techniques to measure slippage. Here we describe a method to characterize the influence of slippage…
In this work, we present a novel approach to process the DIC measurements of multiple biaxial stretching protocols. In particular, we develop a optimization-based approach, which calculates the smoothed nodal displacements using a moving…
Slow slip events (SSEs) originate from a slow slippage on faults that lasts from a few days to years. A systematic and complete mapping of SSEs is key to characterizing the slip spectrum and understanding its link with coeval seismological…
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…