相关论文: Optically Sensorized Electro-Ribbon Actuator (OS-E…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
A coupled oscillator system displays enhanced sensitivity of its saturated steady-state (SS) oscillation frequency to small parameter perturbations near an exceptional point degeneracy (EPD), a property that can be used to realize EPD-based…
Micro-expression recognition (MER) has achieved impressive accuracy in controlled laboratory settings. However, its real-world applicability faces a significant generalization cliff, severely hindering practical deployment due to poor…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Recent progress in effective nonlinearity, achieved by exploiting multiple scatterings within the linear optical regime, has been demonstrated to be a promising approach to enable nonlinear optical processing without relying on actual…
Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…
This work presents ROSA, a microring-based optical neural network architecture that improves robustness and energy efficiency using an optical shift-and-add (OSA) module and a layer-wise hybrid mapping strategy. It introduces a noise-aware…
Functional Electrical Stimulation (FES) is a technique to evoke muscle contraction through low-energy electrical signals. FES can animate paralysed limbs. Yet, an open challenge remains on how to apply FES to achieve desired movements. This…
We present the results of experimental studies on the transverse and longitudinal dynamics of a single electron in the IOTA storage ring. IOTA is a flexible machine dedicated to beam physics experiments with electrons and protons. A method…
The performance of electron energy-loss spectrometers can often be limited by their electron-optical aberrations. Due to recent developments in high energy-resolution and momentum-resolved electron energy loss spectroscopy (EELS), there is…
Modern naval surveillance demands multifunction radar systems capable of operating in cluttered and contested environments. This paper presents the experimental characterization of a compact, X-band Active Electronically Scanned Array…
The measurement of shifts in the energy of X-ray emission lines is important for understanding the electronic structure and physical properties of materials. In this study, we demonstrate a method using a synchrotron source to introduce…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
Current deep models provide remarkable object detection in terms of object classification and localization. However, estimating object rotation with respect to other visual objects in the visual context of an input image still lacks deep…
Behavioral patterns captured in embeddings learned from interaction data are pivotal across various stages of production recommender systems. However, in the initial retrieval stage, practitioners face an inherent tradeoff between embedding…
A major shortcoming of medical practice is the lack of an objective measure of conscious level. Impairment of consciousness is common, e.g. following brain injury and seizures, which can also interfere with sensory processing and volitional…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…