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

For many of the physical phenomena around us, we have developed sophisticated models explaining their behavior. Nevertheless, measuring physical properties from visual observations is challenging due to the high number of causally…

Gravitational microlensing of gamma-ray bursts (GRBs) provides a unique opportunity to probe compact dark matter and small-scale structures in the Universe. However, identifying such microlensed GRBs within large data sets is a significant…

We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…

We propose GrainGNN, a surrogate model for the evolution of polycrystalline grain structure under rapid solidification conditions in metal additive manufacturing. High fidelity simulations of solidification microstructures are typically…

Oblique, low-velocity impacts onto extraterrestrial terrain are an inevitable occurrence during space exploration. We conduct two-dimensional discrete simulations to model such impacts into a bed of triangular grains. Finite element method…

Autonomous Land Vehicles (ALV) shall efficiently recognize the ground in unknown environments. A novel $\mathcal{GP}$-based method is proposed for the ground segmentation task in rough driving scenarios. A non-stationary covariance function…

Graph network-based simulators (GNS) have demonstrated strong potential for learning particle-based physics (such as fluids, deformable solids, and granular flows) while generalizing to unseen geometries due to their inherent inductive…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

This paper proposes a simple, generic and robust method to extract the grains from experimental tridimensionnal images of granular materials obtained by X-ray tomography. This extraction has two steps: segmentation and splitting. For the…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

Many fabric handling and 2D deformable material tasks in homes and industry require singulating layers of material such as opening a bag or arranging garments for sewing. In contrast to methods requiring specialized sensing or end…

Recent advancements in learned 3D representations have enabled significant progress in solving complex robotic manipulation tasks, particularly for rigid-body objects. However, manipulating granular materials such as beans, nuts, and rice,…

Conjugated organic molecules play a central role in a wide range of optoelectronic devices, including organic light-emitting diodes, organic field-effect transistors, and organic solar cells. A major bottleneck in the computational design…

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,…

We study the motion of dust grains into the Intergalactic Medium (IGM) around redshift z=3, to test the hypothesis that grains can efficiently pollute the gas with metals through sputtering. We use the results available in the literature…

AGILE is an ASI space mission launched in 2007 to study X-ray and gamma-ray phenomena in the energy range from $\sim20$ keV to $\sim10$ GeV. The AGILE Team developed a real-time analysis pipeline for the fast detection of transient sources,…

Most studies on granular physics have focused on dry granular media, with no liquids between the grains. However, in geology and many real world applications (e.g., food processing, pharmaceuticals, ceramics, civil engineering,…

This paper proposes a new method for in vivo and almost real-time identification of biomechanical properties of the human cornea based on non-contact tonometer data. Further goal is to demonstrate the method's functionality based on…

The jamming transition is an important feature of granular materials, with prior work showing an excess of low frequency modes in the granular analog to the density of states, the granular density of modes. In this work, we present an…

GRAMS (Gamma-Ray and AntiMatter Survey) is a novel project that can simultaneously target both astrophysical observations with MeV gamma rays and an indirect dark matter search with antimatter. The GRAMS instrument is designed with a…