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Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when…
The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to…
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and…
Freight vehicles approaching signalized intersections require reliable detection and motion estimation to support infrastructure-based Freight Signal Priority (FSP). Accurate and timely perception of vehicle type, position, and speed is…
Computer vision has achieved impressive progress in recent years. Meanwhile, mobile phones have become the primary computing platforms for millions of people. In addition to mobile phones, many autonomous systems rely on visual data for…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…
This article describes an approach to detect the wearing location of smart devices worn by pedestrians and cyclists. The detection, which is based solely on the sensors of the smart devices, is important context-information which can be…
This paper presents a vehicle-independent, non-intrusive, and light monitoring system for accurately measuring fuel consumption in road vehicles from longitudinal speed and acceleration derived continuously in time from GNSS and IMU sensors…
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…
Objective: Our aim is to determine if data collected with inertial measurement units (IMUs) during steady-state running could be used to estimate ground reaction forces (GRFs) and to derive biomechanical variables (e.g., contact time,…
Orbital debris is a constraint on the long-term health of any spacecraft and must be consi-dered during mission planning. Varying mechanisms have been proposed to quantify the problem. Accurate in-situ data is essential with various types…
A novel technique for damage detection of structures is introduced and discussed. It is based on purely electric measurements of the state variables of an electric network coupled to the main structure through a distributed set of…
This paper proposes a novel approach to real-time automatic rim detection, classification, and inspection by combining traditional computer vision and deep learning techniques. At the end of every automotive assembly line, a quality control…
Autonomous Vehicles (AVs) refer to systems capable of perceiving their states and moving without human intervention. Among the factors required for autonomous decision-making in mobility, positional awareness of the vehicle itself is the…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
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,…