相关论文: Enhancing Thin-Film Wafer Inspection With A Multi-…
Autonomous stores leverage advanced sensing technologies to enable cashier-less shopping, real-time inventory tracking, and seamless customer interactions. However, these systems face significant challenges, including occlusion in…
Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…
We propose using THz frequency selective surfaces interrogated with THz subwavelength optical fibers as sensors for monitoring of the optical properties of thick films that are brought in contact with such surfaces. Changes in the test film…
More than a thousand 8" silicon sensors will be visually inspected to look for anomalies on their surface during the quality control preceding assembly into the High-Granularity Calorimeter for the CMS experiment at CERN. A deep…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one of the major challenges in robotics. With the development of deep learning, we are beginning to see results in simulations and in some actual…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…
Semiconductor pixel detectors are widely established in High Energy Physics (HEP) and Medical physics for their high spatial resolution and tracking capabilities. Research on both monolithic detectors and hybrid detectors is ongoing.…
Anomaly detection plays a key role in industrial quality control, where defects must be identified despite the scarcity of labeled faulty samples. Recent self-supervised approaches, such as GLASS, learn normal visual patterns using only…
Robotic manipulation of deformable objects remains a challenging task. One such task is to iron a piece of cloth autonomously. Given a roughly flattened cloth, the goal is to have an ironing plan that can iteratively apply a regular iron to…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
This study presents a comprehensive methodology for determining the thermal conductivity (TC) of materials with high reliability. The methodology addresses issues such as surface topographical variations and substrate interference by…
In the long pursuit of smart robotics, it has been envisioned to empower robots with human-like senses, especially vision and touch. While tremendous progress has been made in image sensors and computer vision over the past decades, the…
Robotic Wire Arc Additive Manufacturing (WAAM) is a metal additive manufacturing technology, offering flexible 3D printing while ensuring high quality near-net-shape final parts. However, WAAM also suffers from geometric imprecision,…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…