Tissue removal inside the beating heart using a robotically delivered metal MEMS tool [0.03%]
一种用于摘除跳动的心脏内部组织的金属微机电系统机器人递送工具
Nikolay V Vasilyev,Andrew H Gosline,Arun Veeramani et al.
Nikolay V Vasilyev et al.
A novel robotic tool is proposed to enable the surgical removal of tissue from inside the beating heart. The tool is manufactured using a unique metal MEMS process that provides the means to fabricate fully assembled devices that incorporat...
Configuration identification of on-demand variable stiffness strain-limiting layers in zig-zag soft pneumatic actuators using deep learning methods [0.03%]
基于深度学习方法的之字形软气动执行器变刚度应变限制层配置识别
Palpolage Don Shehan Hiroshan Gunawardane,Duhyeon Lee,Phoebe Cheung et al.
Palpolage Don Shehan Hiroshan Gunawardane et al.
Soft pneumatic actuators (SPAs) typically offer a fixed trajectory, resulting in one specific tip motion for a given range of pressure. When multiple trajectories are needed, these actuators require re-fabrication with altered structural de...
A low-noise low-impedance powered knee prosthesis with direct ball screw drive and torque-sensitive actuation [0.03%]
一种低噪音低阻抗力矩敏感驱动膝关节假肢
Brendon Ortolano,Lukas Gabert,Tommaso Lenzi
Brendon Ortolano
The standard of care for individuals with above-knee amputation is the microprocessor-controlled knee prosthesis-a lightweight and quiet device that can actively regulate joint resistance but cannot generate positive power like biological l...
MUN-FRL: A Visual-Inertial-LiDAR Dataset for Aerial Autonomous Navigation and Mapping [0.03%]
基于视觉-惯性-激光雷达的无人机动态环境自主导航与建图数据集(MUN-FRL)
Ravindu G Thalagala,Oscar De Silva,Awantha Jayasiri et al.
Ravindu G Thalagala et al.
This paper presents a unique outdoor aerial visual-inertial-LiDAR dataset captured using a multi-sensor payload to promote the global navigation satellite system (GNSS)-denied navigation research. The dataset features flight distances rangi...
Certifiably optimal rotation and pose estimation based on the Cayley map [0.03%]
基于Cayley映射的最优旋转和姿态估计方法研究
Timothy D Barfoot,Connor Holmes,Frederike Dümbgen
Timothy D Barfoot
We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement noise levels. Some such relaxations exist in the literature for specific problem setu...
Basak Sakcak,Kalle G Timperi,Vadim Weinstein et al.
Basak Sakcak et al.
This paper addresses the lower limits of encoding and processing the information acquired through interactions between an internal system (robot algorithms or software) and an external system (robot body and its environment) in terms of act...
YUTO MMS: A comprehensive SLAM dataset for urban mobile mapping with tilted LiDAR and panoramic camera integration [0.03%]
基于倾斜激光雷达和全景相机的城市移动测量综合SLAM数据集(Yuto MMS)
Yiujia Zhang,SeyedMostafa Ahmadi,Jungwon Kang et al.
Yiujia Zhang et al.
The York University Teledyne Optech (YUTO) Mobile Mapping System (MMS) Dataset, encompassing four sequences totaling 20.1 km, was thoroughly assembled through two data collection expeditions on August 12, 2020, and June 21, 2019. Acquisitio...
Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC [0.03%]
基于动态系统和采样模型预测控制的关节空间碰撞避免 Reactive 运动生成方法
Mikhail Koptev,Nadia Figueroa,Aude Billard
Mikhail Koptev
Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, w...
Decentralized state estimation: An approach using pseudomeasurements and preintegration [0.03%]
基于伪测度和预积分的分布式状态估计方法研究
Charles Champagne Cossette,Mohammed Ayman Shalaby,David Saussié et al.
Charles Champagne Cossette et al.
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position rel...
Exceeding traditional curvature limits of concentric tube robots through redundancy resolution [0.03%]
通过冗余解析超越同心管机器人传统曲率限制
Patrick L Anderson,Richard J Hendrick,Margaret F Rox et al.
Patrick L Anderson et al.
Understanding elastic instability has been a recent focus of concentric tube robot research. Modeling advances have enabled prediction of when instabilities will occur and produced metrics for the stability of the robot during use. In this ...