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The performance of pre-trained masked diffusion models is often constrained by their sampling procedure, which makes decisions irreversible and struggles in low-step generation regimes. We introduce a novel sampling algorithm that works…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…
We consider the problem of data collection from a continental-scale network of energy harvesting sensors, applied to tracking mobile assets in rural environments. Our application constraints favour a highly asymmetric solution, with heavily…
Energy harvesting can enable a reconfigurable intelligent surface (RIS) to self-sustain its operations without relying on external power sources. In this paper, we consider the problem of energy harvesting for RISs in the absence of…
Stratified sampling is a fast and simple method to generate point sets with uniform distribution in hypercubes. However, for the most common paraxial stratfication it has the prominent drawback that the number of sampled points in n…
Optical frequency combs have the potential to improve the precision of the radial velocity measurement of celestial bodies, leading to breakthroughs in such fields as exoplanet exploration. For these purposes, the comb must have a broad…
Manual tissue extraction from potato tubers for molecular pathogen detection is highly laborious. This study presents a machine-vision-guided, dual-arm coordinated inline robotic system integrating tuber grasping and tissue sampling…
Laser triangulation sensors are widely used in industry for surface inspection due to simple setup, micron precision and low cost. Conventional laser triangulation methods only enable axial distance measurement limiting further…
We describe a successful effort to produce a laser comb around 1.55 $\mu$m in the astronomical H band using a method based on a line-referenced, electro-optical-modulation frequency comb. We discuss the experimental setup, laboratory…
In fruit tree growth, pruning is an important management practice for preventing overcrowding, improving canopy access to light and promoting regrowth. Due to the slow nature of agriculture, decisions in pruning are typically made using…
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been…
Many automated operations in agriculture, such as weeding and plant counting, require robust and accurate object detectors. Robotic fruit harvesting is one of these, and is an important technology to address the increasing labour shortages…
Labor shortages in fruit crop production have prompted the development of mechanized and automated machines as alternatives to labor-intensive orchard operations such as harvesting, pruning, and thinning. Agricultural robots capable of…
Phase-preserved optical elevator is an optical device to lift up an entire plane virtually without distortion in light path or phase. Using transformation optics, we have predicted and observed the realization of such a broadband…
This is the report on new development of an automated precision load-based measurement setup for thermoelectric power of different types of samples in the temperature range 5 - 330 K. The problems in the old spring-based setup have been…
While mobile LiDAR sensors are increasingly used to scan in ecology and forestry applications, reconstruction and characterisation are typically carried out offline (to the best of our knowledge). Motivated by this, we present an online…
Using a laser-based ranging method for precise environmental 3D sensing, LiDAR has numerous applications in science and industry. However, conventional LiDAR face challenges in simultaneously achieving high ranging precision and fast…
In this paper, we present the design and realization of high bandwidth pickup electrodes with a cutoff frequency above 40 GHz. The proposed cone-shaped pickups are part of a bunch arrival-time monitor (BAM) designed for high (> 500 pC) and…
In the context of autonomous forklifts, ensuring non-collision during travel, pick, and place operations is crucial. To accomplish this, the forklift must be able to detect and locate areas of free space and potential obstacles in its…