Related papers: Measuring a Soft Resistive Strain Sensor Array by …
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Sensor networks provide services to a broad range of applications ranging from intelligence service surveillance to weather forecasting. Most of the sensor networks are terrestrial, however much of our planet is covered by water and…
Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
The energy cost of a sensor network is dominated by the data acquisition and communication cost of individual sensors. At each sampling instant it is unnecessary to sample and communicate the data at all sensors since the data is highly…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep…
This paper explores the problem of selecting sensor nodes for a general class of nonlinear dynamical networks. In particular, we study the problem by utilizing altered definitions of observability and open-loop lifted observers. The…
Wireless sensor networks (WSNs) have recently attracted a lot of interest in the research community due their wide range of applications. Unfortunately, these networks are vulnerable to numerous security threats that can adversely affect…
Given a resistive electrical network, we would like to determine whether all the resistances (edges) in the network are working, and if not, identify which edge (or edges) are faulty. To make this determination, we are allowed to measure…
Wireless sensor networks (WSNs) have recently attracted a lot of interest in the research community due their wide range of applications. Unfortunately, these networks are vulnerable to numerous security threats that can adversely affect…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Lossy compression algorithms aim to compactly encode images in a way which enables to restore them with minimal error. We show that a key limitation of existing algorithms is that they rely on error measures that are extremely sensitive to…
In this paper, we tackle the direct and inverse problems for the Remote-Field Eddy-Current (RFEC) technology. The direct problem is the sensor model, where given the geometry the measurements are obtained. Conversely, the inverse problem is…
Growing robots based on the eversion principle are known for their ability to extend rapidly, from within, along their longitudinal axis, and, in doing so, reach deep into hitherto inaccessible, remote spaces. Despite many advantages,…