Catching Objects in Flight

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Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

In digital timber construction, scanning technologies and point cloud data are widely used due to the accessibility of affordable 3D sensors, photogrammetry, and userfriendly CAD tools. While typically not employed for accuracy checks in timber fabrication ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

The ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

Deriving health indicators of rotating machines is crucial for their maintenance. However, this process is challenging for the prevalent adopted intelligent methods since they may take the whole data distributions, not only introducing noise interference b ...

Motivation Many machine learning (ML) models developed to classify phenotype from gene expression data provide interpretations for their decisions, with the aim of understanding biological processes. For many models, including neural networks, interpretati ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

The evolution of airborne mapping witnesses the introduction of hybrid lidar-camera systems to enhance data collection, i.e. to obtain simultaneously high-density point-cloud and texture. Yet, the common adjustment of both optical data streams is a nontriv ...

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Data augmentation is vital in deep learning for enhancing model robustness by artificially expanding training datasets. However, advanced methods like CutMix blend images and assign labels based on pixel ratios, often introducing label noise by neglecting ...

Multi-Object Tracking (MOT) is a fundamental computer vision task that involves detecting objects of interest in video frames and associating detections of the same object across time to form trajectories. For association, appearance cues, extracted throug ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

This thesis focuses on understanding and improving the reasoning capabilities of neural networks. It develops theoretical results and empirical analyses to uncover reasoning potential and limitations, leveraging these insights to guide the design of improv ...

Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...

Federated learning (FL) is a machine learning approach where nodes collaboratively train a global model. As more nodes participate in a round of FL, the effectiveness of individual model updates by nodes also diminishes. In this study, we increase the effe ...

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

Background and Objectives: The massive storage of cardiac arrhythmic episodes from Implantable Cardioverter Defibrillators (ICD) and the advent of new artificial intelligence algorithms are opening up new opportunities for electrophysiological knowledge ex ...

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

Catching Objects in Flight

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Gas Sensing with Rotary-Wing Nano Aerial Vehicles

DiffCheck: A scan-CAD evaluation tool for digital manufacturing and assembly processes in timber construction

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Experimental assessment, design, and control of compliance in dexterous robotic hands

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Classifier-free diffusion-based weakly-supervised approach for health indicator derivation in rotating machines: Advancing early fault detection and condition monitoring

A comparative analysis of gene expression profiling by statistical and machine learning approaches

Geometric Learning: Leveraging differential geometry for learning and control

On the Perspectives of Image-to-Lidar Constraints in Dynamic Network Optimisation

Frequency response of fiber reinforced DEAs

SaliencyMix plus : Noise-Minimized Image Mixing Method With Saliency Map in Data Augmentation

Person Re-Identification and its Application to Multi-Object Tracking

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Learning to Reason with Neural Networks: Principles and Methods

Bimanual dynamic grabbing and tossing of objects onto a moving target

Harnessing Increased Client Participation with Cohort-Parallel Federated Learning

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Active learning and margin strategies for arrhythmia classification in implantable devices

Reinforcement learning for scaffold-free construction of spanning-structures