Related papers: Eversion Robots for Mapping Radiation in Pipes
Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct…
This paper presents a novel design of a multi-directional bicycle robot, which targets inspecting general ferromagnetic structures including complex-shaped structures. The locomotion concept is based on arranging two magnetic wheels in a…
The growing penetration of inverter-based resources and associated controls necessitates system-wide electromagnetic transient (EMT) analyses. EMT tools and methods today were not designed for the scale of these analyses. In light of the…
Characterization and control of the transverse phase space of high-brightness electron beams is required at free-electron lasers or electron diffraction experiments for emittance measurement and beam optimization as well as at advanced…
In this work, we consider the inverse electromagnetic scattering problem for a magneto-dielectric cylinder covering an impedance cylinder of arbitrary shape. We solve it by introducing a divide-and-conquer framework using specially designed…
In a previous paper, we reviewed theoretically some of the available processing schemes for X-ray wavefront sensing based on random modulation. We here show experimental applications of the technique for characterising both refractive and…
In a large range of physics and space experiments, the direction of the magnetic field needs to be determined with an accuracy on the level of one milli radian or better. We have proposed a new type of magnetic compass - a rotation-based…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Motivated by the emittance requirements for future light sources, we show how longitudinal-transverse correlations can be introduced to create beams with large emittance asymmetry. This concept generalizes a key aspect of a Flat Beam…
The magnetic focusing of electrons has proven its utility in fundamental studies of electron transport. Here we report the direct imaging of magnetic focusing of electron waves, specifically in a two-dimensional electron gas (2DEG). We see…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
Electrical Resistivity Tomography (ERT) has been extensively used for imaging the subsurface resistivity distribution and structure. Over the years, many algorithms have been developed in order to solve the subsurface resistivity…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…
In this paper we demonstrate a technique of utilizing magnetically trapped neutral Rb-87 atoms to measure the magnitude and direction of stray electric fields emanating from surface contaminants. We apply an alternating external electric…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
An imaging interferometer was created in a two-dimensional electron gas by reflecting electron waves emitted from a quantum point contact (QPC) with a circular mirror. Images of electron flow obtained with a scanning probe microscope at…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…