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Although qubit coherence times and gate fidelities are continuously improving, logical encoding is essential to achieve fault tolerance in quantum computing. In most encoding schemes, correcting or tracking errors throughout the computation…
This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped robot navigation. The proposed state estimator builds upon our…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
A configuration of $n$ unit-cube-shaped \textit{modules} (or \textit{robots}) is a lattice-aligned placement of the $n$ modules so that their union is face-connected. The reconfiguration problem aims at finding a sequence of moves that…
Effortless and ergonomically designed surgical lighting is critical for precision and safety during procedures. However, traditional systems often rely on manual adjustments, leading to surgeon fatigue, neck strain, and inconsistent…
We propose a computationally efficient method to solve the dynamics of operators of bosonic quantum systems coupled to their environments. The method maps the operator under interest to a set of complex-valued functions, and its adjoint…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
The labyrinth game is a simple yet challenging platform, not only for humans but also for control algorithms and systems. The game is easy to understand but still very hard to master. From a system point of view, the ball behaviour is in…
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…
The proposed YOLO-Former method seamlessly integrates the ideas of transformer and YOLOv4 to create a highly accurate and efficient object detection system. The method leverages the fast inference speed of YOLOv4 and incorporates the…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…
Intelligent surveillance systems often handle perceptual tasks such as object detection, facial recognition, and emotion analysis independently, but they lack a unified, adaptive runtime scheduler that dynamically allocates computational…
For decades, three-dimensional C-arm Cone-Beam Computed Tomography (CBCT) imaging system has been a critical component for complex vascular and nonvascular interventional procedures. While it can significantly improve multiplanar soft…
In this paper, we have worked on reducing burden on mechanic involving complex automobile maintenance activities that are performed in centralised workshops. We have presented a system prototype that combines Augmented Reality with Kinect.…
Modern quantum computers rely heavily on real-time control systems for operation. Software for these systems is becoming increasingly more complex due to the demand for more features and more real-time devices to control. Unfortunately,…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
By first solving the equation $x^3+y^3+z^3=k$ with fixed $k$ for $z$ and then considering the distance to the nearest integer function of the result, we turn the sum of three cubes problem into an optimisation one. We then apply three…
Large-scale particle physics detectors often contain millions of repeated components, making precise and efficient quality control essential. We have developed a semiautomatic system for dimensional screening of 1 cm$^3$ plastic…