相关论文: GRAINS: Proximity Sensing of Objects in Granular M…

To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…

Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…

This paper presents a new self-supervised system for learning to detect novel and previously unseen categories of objects in images. The proposed system receives as input several unlabeled videos of scenes containing various objects. The…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Buried landmines and unexploded remnants of war are a constant threat for the population of many countries that have been hit by wars in the past years. The huge amount of human lives lost due to this phenomenon has been a strong motivation…

GravityCam is a new concept of ground-based imaging instrument capable of delivering significantly sharper images from the ground than is normally possible without adaptive optics. Advances in optical and near infrared imaging technologies…

Current robotic systems can understand the categories and poses of objects well. But understanding physical properties like mass, friction, and hardness, in the wild, remains challenging. We propose a new method that reconstructs 3D objects…

Gesture recognition has become increasingly important in human-computer interaction and can support different applications such as smart home, VR, and gaming. Traditional approaches usually rely on dedicated sensors that are worn by the…

Selecting out-of-reach objects is a fundamental task in mixed reality (MR). Existing methods rely on a single cue or deterministically fuse multiple cues, leading to performance degradation when the dominant cue becomes unreliable. In this…

Existing earthmoving autonomy is largely confined to highly controlled and well-characterized environments due to the complexity of vehicle-terrain interaction dynamics and the partial observability of the terrain resulting from unknown and…

We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…

In this paper, we propose a method for implementing the interaction-free measurement (IFM) with mesoscopic devices fabricated on a high mobility GaAs/AlGaAs heterostructure, where a two-dimensional electron gas (2DEG) system is buried, at…

Non-cohesive granular media exhibit complex responses to sudden impact that often differ from those of ordinary solids and liquids. We investigate how this response is mediated by the presence of interstitial gas between the grains. Using…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…

We present a high-fidelity three dimensional computational framework for simulating the bulk mechanical behavior of granular aggregates composed of deformable brittle grains. Departing from classical discrete element methods (DEM), our…

The environments of such large industrial machines as waste cranes in waste incineration plants are often weakly observable, where little information about the environmental state is contained in the observations due to technical difficulty…

We investigate the jamming transition in packings of emulsions and granular materials via molecular dynamics simulations. The emulsion model is composed of frictionless droplets interacting via nonlinear normal forces obtained using…

Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…

The present study investigates a weakly pulsed granular system of polystyrene spheres under long-time microgravity conditions on the International Space Station (ISS). The spheres are measured using Diffusing Wave Spectroscopy (DWS) and are…

Cashierless stores rely on computer vision and RFID tags to associate shoppers with items, but concealed items placed in backpacks, pockets, or bags create challenges for theft prevention. We introduce a system that turns existing RFID…