arXiv subjects

Tianyu Tu

Publications and source records attributed to Tianyu Tu.

3 recordsLinked to original sources

arXiv2026

Fiber Bragg Grating Whiskers for Bioinspired Hydrodynamic Perception on Underwater Robots

Harbor seals track hydrodynamic trails with their vibrissae, enabling passive perception of moving targets in dark or turbid water. Inspired by this capability, we present compact fiber Bragg grating (FBG) whiskers for underwater robots. Like seal whiskers, they have a non-uniform taper and elliptical cross-section. Controlled towing experiments show a monotonic relative-flow response from 0.1 to 0.6 m/s, a strong reduction of self-induced oscillation relative to a cylindrical baseline, and a pronounced dependence on angle of attack. Experiments with a pitching foil show that the whiskers can detect the characteristic vortices shed by a stationary or moving source, detectable several seconds after the source has passed. Using this information, a single front-mounted whisker enabled a small underwater robot to distinguish between continuing straight and executing a turn, selecting the correct branch in 17 of 20 trials (85.0%) from whisker signals alone. These results connect bioinspired hydrodynamic sensing to robot action and suggest the utility of whiskers for tracking underwater objects.

cs.RO↗

arXiv2025

TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer

Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber Bragg Grating (FBG)-based tactile sensor designed for seamless human-to-robot transfer. TacCap is lightweight, durable, and immune to electromagnetic interference, making it ideal for real-world data collection. We detail its design and fabrication, evaluate its sensitivity, repeatability, and cross-sensor consistency, and assess its effectiveness through grasp stability prediction and ablation studies. Our results demonstrate that TacCap enables transferable tactile data collection, bridging the gap between human demonstrations and robotic execution. To support further research and development, we open-source our hardware design and software.

cs.RO↗

arXiv2024

LookAhead: Preventing DeFi Attacks via Unveiling Adversarial Contracts

The exploitation of smart contract vulnerabilities in Decentralized Finance (DeFi) has resulted in financial losses exceeding 3 billion US dollars. Existing defense mechanisms primarily focus on detecting and reacting to adversarial transactions executed by attackers that target victim contracts. However, with the emergence of private transaction pools where transactions are sent directly to miners without first appearing in public mempools, current detection tools face significant challenges in identifying attack activities effectively. Based on the fact that most attack logic rely on deploying intermediate smart contracts as supporting components to the exploitation of victim contracts, novel detection methods have been proposed that focus on identifying these adversarial contracts instead of adversarial transactions. However, previous state-of-the-art approaches in this direction have failed to produce results satisfactory enough for real-world deployment. In this paper, we propose LookAhead, a new framework for detecting DeFi attacks via unveiling adversarial contracts. LookAhead leverages common attack patterns, code semantics and intrinsic characteristics found in adversarial smart contracts to train Machine Learning (ML)-based classifiers that can effectively distinguish adversarial contracts from benign ones and make timely predictions of different types of potential attacks. Experiments on our labeled datasets show that LookAhead achieves an F1-score as high as 0.8966, which represents an improvement of over 44.4% compared to the previous state-of-the-art solution, with a False Positive Rate (FPR) at only 0.16%.

cs.CR↗