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Geometry-driven multimodal tactile sensors with high-fidelity perception enabled by strain-invariant oxidized liquid metal electrodes
Multi-axis tactile sensors that simultaneously resolve normal and shear forces are indispensable for dexterous robotic manipulation and human-robot interaction. Capacitive platforms, however, suffer from microcrack-induced resistance fluctuations in conventional electrodes, which corrupt RC time constants and degrade signal fidelity under repeated deformation. Here, we introduce a geometry-driven multimodal capacitive tactile sensor employing oxidized liquid metal (O-LM) electrodes whose near-in
2026-08
GAR-Tracker: Target-Visible Trajectory Planning for a Ground Assistant Robot
The target tracking from a motion-planning perspective has been consistently studied with drones, owing to their agility and ease of control, particularly because position and yaw control can be decoupled. However, in indoor environments, the use of drones is often restricted due to safety and noise concerns, motivating the need for tracking autonomy with ground robots. To this end, this paper proposes a planning framework for wheeled robots equipped with a limited field-of-view camera, without
2026-09
Bio-inspired terrain perception for snake robots: spectral analysis of vertical undulation and sidewinding
While snake robots offer exceptional potential for exploration in confined and unstructured environments, their capacity for active adaptation is currently hindered by a lack of robust terrain classification. Inspired by the mechanosensory perception of biological snakes, this study proposes a proprioceptive terrain classification framework relying solely on a single uniaxial accelerometer. To capture the coupled robot–terrain interaction dynamics from the complex, non-stationary signals inheren
2026-10
Caenorhabditis elegans avoids epigallocatechin gallate (EGCG) through SRXA-7 G-protein coupled receptor
Flavonoids are plant-derived polyphenols that influence nematode behavior, yet their neuronal and molecular targets remain poorly understood. Here, we show that the free-living nematode Caenorhabditis elegans detects and avoids a green tea catechin epigallocatechin gallate (EGCG) via the SRXA-7 Gprotein coupled receptor (GPCR) in the ASH nociceptive neurons. EGCG and epicatechin gallate (ECG), both containing a galloyl group, trigger strong avoidance, unlike other green tea catechins lacking thi
2026
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Edge-Server Workload Characterization in Vehicular Computation Offloading: Semantics and Empirical Analysis
Edge server-assisted computation offloading enables vehicles to leverage server compute resources to deliver connected services, overcoming the limitations of onboard resources. Understanding the compute workloads of edge servers is crucial for effective resource management and scheduling, yet this task is challenging due to the complex interplay of factors such as vehicle mobility and computation offloading patterns. To address this, we propose an empirical analysis framework that systematicall
2024-06
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Recent Advances in Ultra-High-Speed Wireline Receivers with ADC-DSP-Based Equalizers
High-speed wireline data transceivers (TRX) with analog-to-digital converter (ADC) followed by digital signal processor (DSP) on the receiver (RX) equalizer became popular for applications requiring >100 Gb/s per-lane data rate over long-reach (LR) channels, especially for datacenter applications. With the digital-to-analog converter (DAC)-based transmitter (TX) including DSP-based TX signal processing, the overall structure of DAC/ADC-DSP-based wireline TRXs became similar to modulator/demodula
2024-11
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A 0.05 mm3 diode-based single charged-particle real-time radiation detector for electron radiotherapy
Real-time radiation monitoring at the single-particle level is an unmet need for electron radiotherapy, especially for dose deposition to targets in motion or critical OARs. We have developed a first-in-class CMOS-based 0.05 mm3 single electron sensitive detector. The chiplet integrates all the requisite electronics. The functionality of the system is verified under 6 and 9 MeV clinical electron beams. Percentage depth vs. pulse-width curves for 6 and 9 MeV beams are measured and verified using
2025-04
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Empirical Analysis of MAVLink Protocol Vulnerability for Attacking Unmanned Aerial Vehicles
Recently, unmanned aerial vehicles (UAVs), or the so-called drones, have been used in various applications. In particular, UAVs are used for rescue systems, disaster detection, and military purposes, as well as for leisure and commercial purposes. UAVs that are controlled over networks by ground control stations (GCS) can provide various services with expanded activity area. It is thus of critical importance to investigate the vulnerability of the drone system. In this paper, we focus on UAVs co
2018-08
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