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Controlling thermal expansion is an important, not yet resolved, and challenging problem in materials research. A conceptual design is introduced here for the first time, for the use of MOFs as platforms for controlling thermal expansion…
We describe an algorithm for solving an important geometric problem arising in computer-aided manufacturing. When cutting away a region from a solid piece of material -- such as steel, wood, ceramics, or plastic -- using a rough tool in a…
Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibratory feeder, referred to here as a vision trap, should in…
To maximise fuel economy, bladed components in aero-engines operate close to material limits. The severe operating environment leads to in-service damage on compressor and turbine blades, having a profound and immediate impact on the…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…
In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a…
Corrosion is a form of damage that often appears on the surface of metal-made objects used in industrial applications. Those damages can be critical depending on the purpose of the used object. Optical-based testing systems provide a form…
Shared control improves Human-Robot Interaction by reducing the user's workload and increasing the robot's autonomy. It allows robots to perform tasks under the user's supervision. Current eye-tracking-driven approaches face several…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
Industrial cone-beam X-ray computed tomography (CT) scans of additively manufactured components produce a 3D reconstruction from projection measurements acquired at multiple predetermined rotation angles of the component about a single…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…
Increasingly, industrial robots are being used in production systems. This is because they are highly flexible machines and economically competitive with human labor. The problem is that they are difficult to program. Thus, manufacturing…
In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…
This study introduces a groundbreaking optical coherence tomography (OCT) imaging system dedicated for high-throughput screening applications using ex vivo tissue culture. Leveraging OCT's non-invasive, high-resolution capabilities, the…