{"id":112,"date":"2017-12-21T16:40:36","date_gmt":"2017-12-21T21:40:36","guid":{"rendered":"https:\/\/web.uri.edu\/icrl\/?page_id=112"},"modified":"2025-01-10T13:44:28","modified_gmt":"2025-01-10T18:44:28","slug":"research","status":"publish","type":"page","link":"https:\/\/web.uri.edu\/icrl\/home-2\/research\/","title":{"rendered":"Research"},"content":{"rendered":"<ul class=\"display-posts-listing\"><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/automated-disassembly-of-electronic-waste\/\"><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/UR5-robot-150x150.jpg\" class=\"attachment-thumbnail size-thumbnail wp-post-image\" alt=\"\" srcset=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/UR5-robot-150x150.jpg 150w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/UR5-robot-300x300.jpg 300w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/automated-disassembly-of-electronic-waste\/\">Automated Disassembly of Electronic Waste<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">Electronic waste (e-waste) is a growing global challenge as the number of electronic devices continues to increase while their service lifespans decline. Despite the growing need for sustainable recycling and reuse, efficient methods for automated, non-destructive e-waste disassembly remain limited. Our initial work in this area focused on the design and characterization of a prototype [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/development-of-a-device-for-proprioception-training\/\"><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Overall-DeviceR-150x150.jpeg\" class=\"attachment-thumbnail size-thumbnail wp-post-image\" alt=\"\" srcset=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Overall-DeviceR-150x150.jpeg 150w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Overall-DeviceR-300x300.jpeg 300w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/development-of-a-device-for-proprioception-training\/\">Development of a Device for Proprioception Training<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">As medical technology continues to evolve, there is a growing demand for affordable and effective rehabilitation devices, particularly for proprioception training. This project, funded by a&nbsp;Rhode Island Innovation Voucher Grant&nbsp;from RI Commerce, focused on the design, modeling, and control of a prototype device for proprioception training. The device consists of two ball-screw linear stages, each [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/1074-2\/\"><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Robot-Picture-150x150.jpg\" class=\"attachment-thumbnail size-thumbnail wp-post-image\" alt=\"\" srcset=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Robot-Picture-150x150.jpg 150w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Robot-Picture-300x300.jpg 300w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/1074-2\/\">Automated Nut Threading<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">This project developed a novel robotic system designed to automate the initial mating of nuts on threaded studs by integrating convolutional neural networks, image processing, and force sensing. The YOLO architecture was employed to develop a convolutional neural network (CNN) to identify studs and studs with threaded nuts. Visual servoing that combines CNN with traditional [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/on-the-observability-of-visual-place-recognition-based-localization-in-mobile-robots\/\"><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Untitled-150x150.jpg\" class=\"attachment-thumbnail size-thumbnail wp-post-image\" alt=\"\" srcset=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Untitled-150x150.jpg 150w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Untitled-300x300.jpg 300w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Untitled-364x362.jpg 364w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Untitled-500x497.jpg 500w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/Untitled.jpg 735w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/on-the-observability-of-visual-place-recognition-based-localization-in-mobile-robots\/\">On the Observability of Visual-Place-Recognition-Based Localization in Mobile Robots<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">Our latest paper has been accepted for presentation at ECC 2026. In this paper we study the observability properties of visual-place-recognition (VPR)-based localization systems for mobile robots. In our setup, the environment is split into discrete cells and the robot\u2019s camera, through a VPR module, provides a discrete place label together with probabilistic distribution over [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/design-modeling-and-control-of-a-h-frame-type-xy-positioning-system\/\"><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2-150x150.jpg\" class=\"attachment-thumbnail size-thumbnail wp-post-image\" alt=\"\" srcset=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2-150x150.jpg 150w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2-300x300.jpg 300w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2-364x361.jpg 364w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2-500x496.jpg 500w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2-400x400.jpg 400w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/positioning_2.jpg 571w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/design-modeling-and-control-of-a-h-frame-type-xy-positioning-system\/\">Design, Modeling and Control of a H-Frame Type XY Positioning System<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">XY positioning systems are widely used in industry to position a part or a tool within a two dimensional rectangular area. These systems are typically used for cutting, welding, marking or for pick-and-place applications. Current implementations of XY positioning systems typically consist of two linear guides, each with their own independent timing belts or ball\/lead [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/automation-of-a-brick-joining-operation\/\"><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/brick_02-150x150.jpg\" class=\"attachment-thumbnail size-thumbnail wp-post-image\" alt=\"\" srcset=\"https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/brick_02-150x150.jpg 150w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/brick_02-300x300.jpg 300w, https:\/\/web.uri.edu\/icrl\/wp-content\/uploads\/sites\/2260\/brick_02-400x400.jpg 400w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/automation-of-a-brick-joining-operation\/\">Automation of a Brick-Joining Operation<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">The project, funded by a Rhode Island Innovation Voucher Grant from RI Commerce, focused on developing a semi-automated system to create corner bricks formed by joining two individual bricks. The corner bricks are used for exterior corners of buildings and window trims, and are made from two flat bricks cut at 45\u00b0 angles such that [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/small-fault-detection-of-discrete-time-nonlinear-uncertain-systems\/\">Small Fault Detection of Discrete-Time Nonlinear Uncertain Systems<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">This article investigates the problem of small fault detection (sFD) for discrete-time nonlinear systems with uncertain dynamics. The faults are considered to be &#8220;small&#8221; in the sense that the system trajectories in the faulty mode always remain close to those in the normal mode, and the magnitude of fault can be smaller than that of [&hellip;]<\/span><\/li><li class=\"listing-item\"><a class=\"image\" href=\"https:\/\/web.uri.edu\/icrl\/aaaa\/\"><\/a> <a class=\"title\" href=\"https:\/\/web.uri.edu\/icrl\/aaaa\/\">A Low-cost Spectral Camera for Online Vegetation and Water Identification<\/a> <span class=\"excerpt-dash\">-<\/span> <span class=\"excerpt\">In general, each material reflects a different percentage of electro-magnetic (EM) radiation in each wavelength. By plotting those values with respect to the wavelength, it is possible to obtain what is called the &#8220;reflectance&#8221; of the inspected material. The reflectance is unique for each material and constitutes what can be considered a sort of spectral [&hellip;]<\/span><\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":4861,"featured_media":0,"parent":46,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-112","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/pages\/112","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/users\/4861"}],"replies":[{"embeddable":true,"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/comments?post=112"}],"version-history":[{"count":2,"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/pages\/112\/revisions"}],"predecessor-version":[{"id":1019,"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/pages\/112\/revisions\/1019"}],"up":[{"embeddable":true,"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/pages\/46"}],"wp:attachment":[{"href":"https:\/\/web.uri.edu\/icrl\/wp-json\/wp\/v2\/media?parent=112"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}