Related papers: Efficient Optimization of a Permanent Magnet Array…
Recent focus on robustness to adversarial attacks for deep neural networks produced a large variety of algorithms for training robust models. Most of the effective algorithms involve solving the min-max optimization problem for training…
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity…
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…
Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced…
Arrays of trapped atoms are the ideal starting point for developing registers comprising large numbers of physical qubits for storing and processing quantum information. One very promising approach involves neutral atom traps produced on…
Accurate simulations of isotropic permanent magnets require to take the magnetization process into account and consider the anisotropic, nonlinear, and hysteretic material behaviour near the saturation configuration. An efficient method for…
RF-induced micromotion in trapped ion systems is typically minimised or circumvented to avoid off-resonant couplings for adiabatic processes such as multi-ion gate operations. Non-adiabatic entangling gates (so-called `fast gates') do not…
We report the trapping of ultracold 87Rb atoms in a 0.7 micron-period 2D triangular magnetic lattice on an atom chip. The magnetic lattice is created by a lithographically patterned magnetic Co/Pd multilayer film plus bias fields. Rubidium…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more…
Subterranean burrowing is inherently difficult for robots because of the high forces experienced as well as the high amount of uncertainty in this domain. Because of the difficulty in modeling forces in granular media, we propose the use of…
Homogeneous magnetic fields can be generated through the strategic arrangement of permanent magnets. The Halbach array serves as a prominent example of an effective design following this principle. However, it is a two-dimensional approach…
Within the current sphere of deep learning research, despite the extensive application of optimization algorithms such as Stochastic Gradient Descent (SGD) and Adaptive Moment Estimation (Adam), there remains a pronounced inadequacy in…
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…
A design for a permanent magnet system is proposed that generates spatially homogeneous, constant magnetic field gradients, thus creating conditions suitable for MRI without gradient coils and amplifiers. This is achieved by superimposing a…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Decoding the activity of the nervous system is a critical challenge in neuroscience and neural interfacing. In this study, we present a neuromuscular recording system that enables large-scale sampling of muscle activity using microelectrode…
Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…