Related papers: Eversion Robots for Mapping Radiation in Pipes
Multi-frequency radio polarimetric observations of the diffuse Galactic synchrotron background enable us to study the structure of the diffuse ionized gas via rotation measure maps. However, depolarization will introduce artifacts in the…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
Nuclear facilities must routinely survey their infrastructure for radiation contamination. Generally, this is done by trained professionals, wearing personal protective equipment (PPE) that swipe potentially contaminated surfaces and test…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…
This paper investigates the utility of Neural Radiance Fields (NeRF) models in extending the regions of operation of a mobile robot, controlled by Image-Based Visual Servoing (IBVS) via static CCTV cameras. Using NeRF as a 3D-representation…
Proton radiography is a widely-fielded diagnostic used to measure magnetic structures in plasma. The deflection of protons with multi-MeV kinetic energy by the magnetic fields is used to infer their path-integrated field strength. Here, the…
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
Treatments of the usage of optical diffraction radiation from the relativistic electrons moving though a conductive slit for the noninvasive transverse beam size measurement encounter hard limitation of the method sensitivity for the…
Proton radiography is a central diagnostic technique for measuring electromagnetic (EM) fields in high-energy-density, laser-produced plasmas. In this technique, protons traverse the plasma where they accumulate small EM deflections which…
This letter proposes a new method based on ultrafast high energy electron radiography to diagnose transient electromagnetic field. For the traditional methods, large scattering from matter will increase the uncertainty of measurement, but…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
A high accuracy and high sensitivity system architecture is proposed for the read-out circuit of electrical impedance tomography system-on-chip. The switched ratiometric technique is applied in the proposed architecture. The proposed system…
We use coordinate transformation theory to realize substrates that can modify the emission of an embedded source. Simulation results show that with proper transformation functions the energy radiated by a source embedded in these space…
The spatial sensitivity pattern of millimeter-wavelength receivers is an important diagnostic of performance and is affected by the alignment of coupling optics. Characterization can be challenging in the field, particularly in the…
To assist in the planning of in situ loading, HEDM experiments by generating synthetic diffraction images of virtual samples in loaded and unloaded states. The user designates a target grain in the virtual sample and specifies the set of…
The general and practical inversion of diffraction data-producing a computer model correctly representing the material explored - is an important unsolved problem for disordered materials. Such modeling should proceed by using our full…
Industry partners provided a problem statement that involves classifying electronic waste using machine learning models that will be used by pick-and-place robots for waste segregation. This was achieved by taking common electronic waste…