相关论文: SIMS: Surgeon-Intention-driven Motion Scaling for …
In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller,…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
Mobile manipulation problems involving many objects are challenging to solve due to the high dimensionality and multi-modality of their hybrid configuration spaces. Planners that perform a purely geometric search are prohibitively slow for…
The rapid growth of wireless communications has created a significant demand for high throughput, seamless connectivity, and extremely low latency. To meet these goals, a novel technology -- stacked intelligent metasurfaces (SIMs) -- has…
Staked intelligent metasurface (SIM) based techniques are developed to perform two-dimensional (2D) direction-of-arrival (DOA) estimation. In contrast to the conventional designs, an advanced SIM in front of the receiving array…
To support cooperative perception (CP) of networked mobile agents in dynamic scenarios, the efficient and robust transmission of sensory data is a critical challenge. Deep learning-based joint source-channel coding (JSCC) has demonstrated…
Automated experiments in scanning transmission electron microscopy (STEM) require rapid image segmentation to optimize data representation for human interpretation, decision-making, site-selective spectroscopies, and atomic manipulation.…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Split Federated Learning is a system-efficient federated learning paradigm that leverages the rich computing resources at a central server to train model partitions. Data heterogeneity across silos, however, presents a major challenge…
Functional MRI (fMRI) is commonly used for interpreting neural activities across the brain. Numerous accelerated fMRI techniques aim to provide improved spatiotemporal resolutions. Among these, simultaneous multi-slice (SMS) imaging has…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Mastering the technical skills required to perform surgery is an extremely challenging task. Video-based assessment allows surgeons to receive feedback on their technical skills to facilitate learning and development. Currently, this…
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force sensing have led to prior sensor designs that trade off ease…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
Stacked intelligent metasurfaces (SIMs) represent a key enabler for next-generation wireless networks, offering beamforming gains while significantly reducing radio-frequency chain requirements. In conventional space-only SIM architectures,…
Intelligent Transportation Systems (ITSs) require ultra-low end-to-end delays and multi-gigabit-per-second data transmission. Millimetre Waves (mmWaves) communications can fulfil these requirements. However, the increased mobility of…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…