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The primary focus of this work is to examine how robots can achieve more robust sequential manipulation through the use of pre-touch sensors. The utility of close-range proximity sensing is evaluated through a robotic system that uses a new optical time-of-flight pre-touch sensor to complete a highly precise and sequential task — solving the Rubik's cube. The techniques used in this task are then...
RF-powered devices equipped with general-purpose microcontrollers face energy limitation constraints for performing arbitrarily complex sensing and computation tasks. While richer capabilities such as image capture and processing would enable many new RF-powered use-cases, this energy limitation narrows the application space. Enabling richer sensing tasks has two main challenges: efficiently retaining...
This paper presents a method of augmenting streaming point cloud data with pretouch proximity sensor information for the purposes of teleoperated grasping of transparent targets. When using commercial RGB-Depth (RGB-D) cameras, material properties can significantly affect depth measurements. In particular, transparent objects are difficult to perceive with RGB images and commercially available depth...
Energy-scavenging devices with general-purpose microcontrollers can support arbitrarily complex sensing tasks in theory, but in practice, energy limitations impose severe constraints on the application space. Richer sensing such as image capture would enable many new applications to take advantage of energy scavenging. Richer sensing faces two key challenges: efficiently retaining the necessary amount...
Interaction with unstructured groups of objects allows a robot to discover and manipulate novel items in cluttered environments. We present a framework for interactive singulation of individual items from a pile. The proposed framework provides an overall approach for tasks involving operation on multiple objects, such as counting, arranging, or sorting items in a pile. A perception module combined...
The ability to accurately localize passive UHF RFID tags in uncontrolled and unstructured environments is limited by multipath propagation. Therefore, in order to increase the spatial resolution of RF based localization methods we propose to combine them with additional sensing capabilities. In this work we enhance passive UHF RFID tags with LEDs, using the Wireless Identification and Sensing Platform...
This paper presents Gambit, a custom, mid-cost 6-DoF robot manipulator system that can play physical board games against human opponents in non-idealized environments. Historically, unconstrained robotic manipulation in board games has often proven to be more challenging than the underlying game reasoning, making it an ideal testbed for small-scale manipulation. The Gambit system includes a low-cost...
We demonstrate a new approach for fabricating multimode interference (MMI) devices using micromachining of a novel flat-fiber platform. A 1×3 splitter has been demonstrated together with spatial output mode control by index tuning of material within micromachined trenches.
Structured light systems use projected light to augment a scene with extra information. The goal of such systems is often the recovery of depth information based on 2D image(s) from one or more viewpoints. Traditionally, the best performing systems use the injected information to ldquolabelrdquo points within a scene. These labelings provide the correspondence information needed for 3D reconstruction...
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