Related papers: Learning to See Inside Opaque Liquid Containers us…
In daily life and industrial production, it is crucial to accurately detect changes in liquid level in containers. Traditional contact measurement methods have some limitations, while emerging non-contact image processing technology shows…
Purpose: The goal of this article is to introduce a technique to measure the velocity distribution of water inside each voxel of an MR image. The method is based on the use of motion sensitizing gradients with changing first moment to…
Open containers, i.e., containers without covers, are an important and ubiquitous class of objects in human life. In this letter, we propose a novel method for robots to "imagine" the open containability affordance of a previously unseen…
Machine learning techniques have been developed to identify inclusions on the surface of freely suspended smectic liquid crystal films imaged by reflected light microscopy. The experimental images are preprocessed using Canny edge detection…
Viscosity measurement is essential for process monitoring and autonomous laboratory operation, yet conventional viscometers remain invasive and require controlled laboratory environments that differ substantially from real process…
We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…
Interacting with bins and containers is a fundamental task in robotics, making state estimation of the objects inside the bin critical. While robots often use cameras for state estimation, the visual modality is not always ideal due to…
There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an…
Detection of boundaries of materials stored in transparent vessels is essential for identifying properties such as liquid level and phase boundaries, which are vital for controlling numerous processes in the industry and chemistry…
Visual recognition of material boundaries in transparent vessels is valuable for numerous applications. Such recognition is essential for estimation of fill-level, volume and phase-boundaries as well as for tracking of such chemical…
This paper proposes a pipeline to automatically track and measure displacement and vibration of structural specimens during laboratory experiments. The latest Mask Regional Convolutional Neural Network (Mask R-CNN) can locate the targets…
We aim at advancing open-vocabulary object detection, which detects objects described by arbitrary text inputs. The fundamental challenge is the availability of training data. It is costly to further scale up the number of classes contained…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Speckle-based fiber optic sensors are well-known to offer high sensitivity but are strongly limited on the interrogation side by low camera frame rates and dynamic range. To address this limitation, we present a novel interrogation…
To safely navigate unknown environments, robots must accurately perceive dynamic obstacles. Instead of directly measuring the scene depth with a LiDAR sensor, we explore the use of a much cheaper and higher resolution sensor: programmable…
Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in embodied robotic agents, fail to…
An interferometric method is implemented in order to accurately assess the thermal fluctuations of a micro-cantilever sensor in liquid environments. The power spectrum density (PSD) of thermal fluctuations together with Sader's model of the…
Cavity optomechanics provides high-performance sensor technology, and the scheme is also applicable to liquid samples for biological and rheological applications. However, previously reported methods using fluidic capillary channels and…
Currently, optical- or mechanical-resonances are commonly used in microfluidic research. However, optomechanical oscillations by light pressure were not shown with liquids. This is because replacing the surrounding air with water inherently…