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Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
We establish a general formula for the distribution of the score in table tennis. We use this formula to derive the probability distribution (and hence the expectation and variance) of the number of rallies necessary to achieve any given…
This paper presents a table tennis stroke detection method from videos. The method relies on a two-stream Convolutional Neural Network processing in parallel the RGB Stream and its computed optical flow. The method has been developed as…
Poor sitting habits have been identified as a risk factor to musculoskeletal disorders and lower back pain especially on the elderly, disabled people, and office workers. In the current computerized world, even while involved in leisure or…
This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…
In sports, such as alpine skiing, coaches would like to know the speed and various biomechanical variables of their athletes and competitors. Existing methods use either body-worn sensors, which are cumbersome to setup, or manual image…
Diffuse optical tomography (DOT) is an imaging modality which uses near-infrared light. Although iterative numerical schemes are commonly used for its inverse problem, correct solutions are not obtained unless good initial guesses are…
Spin noise spectroscopy has become a widespread technique to extract information on spin dynamics in atomic and solid-state systems, in a potentially non-invasive way, through the optical probing of spin fluctuations. Here we experimentally…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
A wide range of practically important problems is nowadays efficiently solved using artificial neural networks. This gave momentum to intensive development of their optical implementations, among which, the so-called diffractive neural…
A sampling algorithm is presented that generates spin glass configurations of the 2D Edwards-Anderson Ising spin glass at finite temperature, with probabilities proportional to their Boltzmann weights. Such an algorithm overcomes the slow…
Rotational speed is one of the important metrics to be measured for calibrating the electric motors in manufacturing, monitoring engine during car repairing, faults detection on electrical appliance and etc. However, existing measurement…
Annually, a large number of injuries and deaths around the world are related to motor vehicle accidents. This value has recently been reduced to some extent, via the use of driver-assistance systems. Developing driver-assistance systems…
We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…
Robotic interaction in fast-paced environments presents a substantial challenge, particularly in tasks requiring the prediction of dynamic, non-stationary objects for timely and accurate responses. An example of such a task is ping-pong,…