Related papers: Dynamics of a Towed Cable with Sensor-Array for Un…
Movable antennas (MAs) have emerged as a promising technology to improve wireless communication and sensing performance towards sixth-generation (6G) networks through flexible antenna movement. In this paper, we propose a novel wireless…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
An active swimmer can tow a passive cargo by binding it to form a self-propelling dimer. The orientation of the cargo relative to the axis of the active dimer's head is determined by the hydrodynamic interactions associated with the…
This study proposes a data-driven method that detects cable damage from measured cable forces by recognizing biased patterns from the intact conditions. The proposed method solves the pattern recognition problem for cable damage detection…
Underwater acoustic technologies are a key component for exploring the behavior of marine megafauna such as sea turtles, sharks, and seals. The animals are marked with acoustic devices (tags) that periodically emit signals encoding the…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
This paper presents the first decentralized method to enable real-world 6-DoF manipulation of a cable-suspended load using a team of Micro-Aerial Vehicles (MAVs). Our method leverages multi-agent reinforcement learning (MARL) to train an…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However,…
This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…
Optically levitated microspheres are an excellent candidate for force and acceleration sensing. Here, we propose an acceleration sensing protocol based on an optically levitated microsphere array (MSA). The system consists of an…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…
Sensor data streams from wearable devices and smart environments are widely studied in areas like human activity recognition (HAR), person identification, or health monitoring. However, most of the previous works in activity and sensor…
Submarine cables play a critical role in global internet connectivity, energy transmission, and communication but remain vulnerable to accidental damage and sabotage. Recent incidents in the Baltic Sea highlighted the need for enhanced…
In this work we demonstrate an FPGA-based coherent optical frequency domain reflectometry setup for cable monitoring. Using coherent detection for averaging and narrowband filtering, we significantly improve the signal-to-noise ratio (SNR)…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…
This work addresses the challenge of enabling a team of quadrupedal robots to collaboratively tow a cable-connected load through cluttered and unstructured environments while avoiding obstacles. Leveraging cables allows the multi-robot…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…