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We consider the setting of a sensor that consists of a speed-scalable processor, a battery, and a solar cell that harvests energy from its environment at a time-invariant recharge rate. The processor must process a collection of jobs of…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…
Ease of miniaturization, and less or no maintenance, among other advantages, have pushed towards replacement of conventional batteries with energy harvesters in particular, vibratory energy harvesters. In the recent years, nonlinearity has…
Reconfigurable Intelligent Surfaces (RISs) have gained immense popularity in recent years because of their ability to improve wireless coverage and their flexibility to adapt to the changes in a wireless environment. These advantages are…
Selectively picking a target fruit surrounded by obstacles is one of the major challenges for fruit harvesting robots. Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that…
We present a subHz linewidth portable ultrastable laser with the mass and volume of are 40kg and 400mm*280mm*450mm, respectively, that meets the requirements of automatic frequency locking and road transportation. A dynamic analytical model…
Recent developments in robotic and sensor hardware make data collection with mobile robots (ground or aerial) feasible and affordable to a wide population of users. The newly emergent applications, such as precision agriculture, weather…
Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a specially designed gripper/cutter end-effector. However, such…
DexFruit is a robotic manipulation framework that enables gentle, autonomous handling of fragile fruit and precise evaluation of damage. Many fruits are fragile and prone to bruising, thus requiring humans to manually harvest them with…
As technology progresses, smart automated systems will serve an increasingly important role in the agricultural industry. Current existing vision systems for yield estimation face difficulties in occlusion and scalability as they utilize a…
In this paper, we present a next-best-view planning approach to autonomously size apple fruitlets. State-of-the-art viewpoint planners in agriculture are designed to size large and more sparsely populated fruit. They rely on lower…
Trunk diameter is a variable of agricultural interest, used mainly in the prediction of fruit trees production. It is correlated with leaf area and biomass of trees, and consequently gives a good estimate of the potential production of the…
The commercially available 4000-Watt continuous-wave Erbium-doped-fiber laser, emitting at the 1567-nanometer wavelength where the atmosphere has high transmission, provides an opportunity for harvesting electric power at remote off the…
Cold plasma (CP) is an eco-friendly method to enhance seed germination, yet outcomes remain difficult to predict due to complex seed--plasma--environment interactions. This study introduces the first machine learning framework to forecast…
The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera…
The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
Wearable biosensors increasingly require continuous and battery-free power sources, but conventional skin-mounted thermoelectric generators are limited by the small temperature differences available in real environments. This work…
Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…
We describe a laser interferometer experiment for the undergraduate teaching laboratory that achieves picometer sensitivity in a hands-on table-top instrument. In addition to providing an introduction to interferometer physics and optical…