publications

2024

1. PAPER

   DynaPix SLAM: A Pixel-Based Dynamic Visual SLAM Approach

   C. Xu, E. Bonetto, and A. Ahmad

   arXiv preprint, Mar 2024

   arXiv Code

2023

1. PAPER

   GRADE: Generating Realistic Animated Dynamic Environments for Robotics Research

   E. Bonetto, C. Xu, and A. Ahmad

   arXiv preprint, Oct 2023

   Abs arXiv Code Website

   In this work, we present a fully customizable framework for generating realistic animated dynamic environments (GRADE) for robotics research. The data produced can be post-processed, e.g. to add noise, and easily expanded with new information using the tools that we provide. To demonstrate GRADE, we generated an indoor dynamic environment dataset and then compared different SLAM algorithms on the produced sequences. By doing that, we show how current research over-relies on well-known benchmarks and fails to generalize. Furthermore, our tests with YOLO and Mask R-CNN provide evidence that our data can improve training performance and generalize to real sequences. Finally, we show GRADE’s flexibility by using it for indoor active SLAM, with diverse environment sources, and in a multi-robot scenario. The code, results, implementation details, and generated data are provided as open-source.

2. PAPER

   Implementation of a Long-lasting, Untethered, Lightweight, Upper-limb Exoskeleton

   H. Liu, K. Fang, L. Chen, C. Xu, and 7 more authors

   Submitted to TMECH, Jul 2023

   Abs PDF Poster

   Poster Accepted by Annual Conference of Chinese Robotics Society (CCRS 2019). Aiming at various types of jobs like automobile which require long-term arm-lifting work and easily cause muscle fatigure or disorder, a passive lightweight adjustable arm-exoskeleton is designed based on a spring slider model and four-bar-linkage model.

2020

1. PATENT

   Power-assisted Exoskeleton Device

   L. Chen, H. Liu, and C. Xu

   ZL 201921545381.6, Aug 2020

   Abs PDF

   The power-assisted exoskeleton device comprises a wearable waistcoat and an arm supporting mechanism. Wherein the two groups of arm supporting mechanisms are symmetrically fixed on a supporting seat of the wearable vest. The arm supporting mechanism comprises a first supporting rod, a second supporting rod, an elastic mechanism and the like. The self-adaption of the supporting force can achieve different magnitudes at the same position. The device has the advantages that an external power source is not needed, the device is simple in structure and convenient to carry, and stable supporting force can be provided during work.

2019

1. TALK

   Breaking the Wall of Intensive Work Above Head: Design of Passive Upper-Limb Exoskeleton

   C. Xu

   Falling Walls Lab, Nov 2019

   Abs HTML PDF

   Aiming at various types of jobs like automobile which require long-term arm-lifting work and easily cause muscle damage, a passive adjustable arm-exoskeleton is designed based on a spring slider model and four-bar-linkage model.

2. Poster

   Design and Verification of Passive Upper Arm Assisted Exoskeleton

   L. Chen, C. Xu, and H. Liu

   Annual Conference of Chinese Robotics Society, Aug 2019

   Abs PDF

   Aiming at various types of jobs like automobile which require long-term arm-lifting work and easily cause muscle damage, a passive adjustable arm-exoskeleton is designed based on a spring slider model and four-bar-linkage model.

1956

1. 

   Investigations on the Theory of the Brownian Movement

   Albert Einstein

   Aug 1956

   Bib

   @book{einstein1956investigations,
     title = {Investigations on the Theory of the Brownian Movement},
     author = {Einstein, Albert},
     year = {1956},
     publisher = {Courier Corporation},
   }

2. Investigations on the Theory of the Brownian Movement

   Albert Einstein

   Aug 1956

   Bib

   @book{einstein1956investigationt,
     title = {Investigations on the Theory of the Brownian Movement},
     author = {Einstein, Albert},
     year = {1956},
     publisher = {Courier Corporation,}
   }

1950

1. AJP

   The meaning of relativity

   Albert Einstein, and AH Taub

   American Journal of Physics, Aug 1950

   Bib

   @article{einstein1950meaning,
     title = {The meaning of relativity},
     author = {Einstein, Albert and Taub, AH},
     journal = {American Journal of Physics},
     volume = {18},
     number = {6},
     pages = {403--404},
     year = {1950},
     publisher = {American Association of Physics Teachers}
   }

2. AJP

   The meaning of relativity

   Albert Einstein, and AH Taub

   American Journal of Physics, Aug 1950

   Bib

   @article{einstein1950meaninh,
     title = {The meaning of relativity},
     author = {Einstein, Albert and Taub, AH},
     journal = {American Journal of Physics},
     volume = {18},
     number = {6},
     pages = {403--404},
     year = {1950},
     publisher = {American Association of Physics Teachers,}
   }

1935

1. PhysRev

   Can Quantum-Mechanical Description of Physical Reality Be Considered Complete?

   A. Einstein, B. Podolsky, and N. Rosen

   Phys. Rev.,, May 1935

   Abs HTML PDF

   In a complete theory there is an element corresponding to each element of reality. A sufficient condition for the reality of a physical quantity is the possibility of predicting it with certainty, without disturbing the system. In quantum mechanics in the case of two physical quantities described by non-commuting operators, the knowledge of one precludes the knowledge of the other. Then either (1) the description of reality given by the wave function in quantum mechanics is not complete or (2) these two quantities cannot have simultaneous reality. Consideration of the problem of making predictions concerning a system on the basis of measurements made on another system that had previously interacted with it leads to the result that if (1) is false then (2) is also false. One is thus led to conclude that the description of reality as given by a wave function is not complete.