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Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are significantly more difficult to model than rigid objects. In this study, we investigate vision-based manipulation of linear flexible objects such as cables. We propose a geometric modeling method that is based on visual feedback to develop a general representation of the linear flexible object that is subject to gravity. The model characterizes the shape of the object by combining the curvatures on two projection planes. Inmore »
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Free, publicly-accessible full text available October 1, 2022
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Free, publicly-accessible full text available September 1, 2022
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A bstract We measure the branching fractions and CP asymmetries for the singly Cabibbo-suppressed decays D 0 → π + π − η , D 0 → K + K − η , and D 0 → ϕη , using 980 fb − 1 of data from the Belle experiment at the KEKB e + e − collider. We obtain $$ {\displaystyle \begin{array}{c}\mathcal{B}\left({D}^0\to {\pi}^{+}{\pi}^{-}\eta \right)=\left[1.22\pm 0.02\left(\mathrm{stat}\right)\pm 0.02\left(\mathrm{syst}\right)\pm 0.03\left({\mathcal{B}}_{\mathrm{ref}}\right)\right]\times {10}^{-3},\\ {}\mathcal{B}\left({D}^0\to {K}^{+}{K}^{-}\eta \right)=\left[{1.80}_{-0.06}^{+0.07}\left(\mathrm{stat}\right)\pm 0.04\left(\mathrm{syst}\right)\pm 0.05\left({\mathcal{B}}_{\mathrm{ref}}\right)\right]\times {10}^{-4},\\ {}\mathcal{B}\left({D}^0\to \phi \eta \right)=\left[1.84\pm 0.09\left(\mathrm{stat}\right)\pm 0.06\left(\mathrm{syst}\right)\pm 0.05\left({\mathcal{B}}_{\mathrm{ref}}\right)\right]\times {10}^{-4},\end{array}} $$ B D 0 → π + π − η = 1.22 ± 0.02 stat ± 0.02more »Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available June 1, 2022
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Free, publicly-accessible full text available July 1, 2022
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Free, publicly-accessible full text available June 1, 2022