arXiv subjects

Jaeeun Kim

Publications and source records attributed to Jaeeun Kim.

5 recordsLinked to original sources

arXiv2026

MVP-Tac: A Miniaturized Dual-Modal Vision and Photoelastic Tactile Sensor for Robot-Assisted Minimally Invasive Surgery

Robot-assisted minimally invasive surgery (RMIS) offers major benefits over open and conventional laparoscopic procedures, yet it still lacks tactile feedback for palpation while operating under strict requirements to preserve reliable vision for navigation and safety. In practice, visual feedback is indispensable, and tactile solutions that cannot coexist with vision are difficult to translate into RMIS tools. To address both needs, we introduce MVP-Tac, a compact, vision-based tactile sensor that provides co-located vision and tactile sensing. MVP-Tac uses reflective photoelastic imaging: a thin photoelastic elastomer produces stress-dependent interferograms under contact that are captured by an embedded camera through a miniaturized reflective polariscope. A semi-transparent membrane and controllable illumination enable switching between visual mode and tactile mode, enabling tactile perception without sacrificing vision. We validate MVP-Tac through force calibration in the 0 to 2 N range and demonstrate its potential for tumor palpation via video-based hardness classification on tissue phantoms, achieving 97% accuracy for exposed-tumor classification and 92% accuracy for subdermal-tumor classification. Finally, we conduct a simulated colonoscopy to validate both visual and tactile modalities in a constrained lumen, including vision-guided 3D photomapping of the luminal wall and in situ hardness classification of localized nodules. Overall, MVP-Tac provides a practical path toward restoring clinically useful palpation in RMIS while maintaining essential visual feedback. The design, fabrication, and firmware of MVP-Tac are open-sourced at https://mvp-tac.github.io/

cs.RO↗

arXiv2026

Soft Surfaced Vision-Based Tactile Sensing for Bipedal Robot Applications

Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like deformable layer that captures contact deformations optically, turning foot-ground interactions into rich haptic signals. From a contact image stream, our method estimates contact pose (position and orientation), visualizes shear, computes center of pressure (CoP), classifies terrain, and detects geometric features of the contact patch. We validate these capabilities on a tilting platform and in visually obscured conditions, showing that foot-borne tactile feedback improves balance control and terrain awareness beyond proprioception alone. These findings suggest that integrating tactile perception into legged robot feet improves stability, adaptability, and environmental awareness, offering a promising direction toward more compliant and intelligent locomotion systems. For the supplementary video, please visit: https://youtu.be/ceJiy9q_2Aw

cs.RO↗

arXiv2023

The Impact of Patchy Reionization on Ultra-faint Dwarf Galaxies

We investigate how patchy reionization affects the star formation history (SFH) and stellar metallicity of ultra-faint dwarf galaxies (UFDs). Patchy reionization refers to varying ultraviolet (UV) background strengths depending on a galaxy's environment. Recent observations highlight the significance of this effect on UFDs, as UFDs can have different SFHs depending on their relative position with respect to their host halo during the period of reionization. However, most cosmological hydrodynamic simulations do not consider environmental factors such as patchy reionization, and the effect of reionization is typically applied homogeneously. Using a novel approach to implement patchy reionization, we show how SFHs of simulated UFDs can change. Our cosmological hydrodynamic zoom-in simulations focus on UFD analogs with M_vir~10^9solar mass, M_star < 10^5 solar mass at $z=0$. We find that patchy reionization can weaken the effect of reionization by two orders of magnitude up to $z=3$, enabling late star formation in half of the simulated UFDs, with quenching times $\sim$460 Myr later than those with homogeneous reionization. We also show that halo merger and mass assembly can affect the SFHs of simulated UFDs, in addition to patchy reionization. The average stellar iron-to-hydrogen ratio, [Fe/H], of the simulated UFDs with patchy reionization increases by 0.22-0.42 dex. Finally, our findings suggest that patchy reionization could be responsible for the extended SFHs of Magellanic UFDs compared to non-Magellanic UFDs.

astro-ph.GA↗

arXiv2022

SMARTmBOT: A ROS2-based Low-cost and Open-source Mobile Robot Platform

This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily achievable and effective robot platform to support broad robotics research and education involving either single-robot or multi-robot systems. The total cost per robot is approximately $210, and most hardware components can be fabricated by a generic 3D printer, hence allowing users to build the robots or replace any broken parts conveniently. The SMARTmBot is also equipped with a rich range of sensors, making it competent for general task scenarios, such as point-to-point navigation and obstacle avoidance. We validated the mobility and function of SMARTmBOT through various robot navigation experiments and applications with tasks including go-to-goal, pure-pursuit, line following, and swarming. All source code necessary for reading sensors, streaming from an embedded camera, and controlling the robot including robot navigation controllers is available through an online repository that can be found at https://github.com/SMARTlab-Purdue/SMARTmBOT.

cs.RO↗

arXiv2021

Toward a Wearable Biosensor Ecosystem on ROS 2 for Real-time Human-Robot Interaction Systems

Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI system designs, and precludes collaboration across disciplines and institutions. Here, we introduce a novel wearable biosensor package for the Robot Operating System 2 (ROS 2) system. The ROS2 officially supports real-time computing and multi-robot systems, and thus provides easy-to-use and reliable streaming data from multiple nodes. The package standardizes biosensor HRI integration, lowers the technical barrier of entry, and expands the biosensor ecosystem into the robotics field. Each biosensor package node follows a generalized node and topic structure concentrated on ease of use. Current package capabilities, listed by biosensor, highlight package standardization. Collected example data demonstrate a full integration of each biosensor into ROS2. We expect that standardization of this biosensors package for ROS2 will greatly simplify use and cross-collaboration across many disciplines. The wearable biosensor package is made publicly available on GitHub at \https://github.com/SMARTlab-Purdue/ros2-foxy-wearable-biosensors.

cs.RO↗