Abstract: A particle sensor for determining the concentration of soot in the exhaust gas of an internal combustion engine. The particle sensor includes a sleeve-shaped sensor housing, a sensor element fixed in the sensor housing and projecting beyond the sensor housing on the exhaust gas side, and a sleeve-shaped protection tube fastened to the sensor housing on the exhaust gas side, the protection tube including an inner protection sleeve and an outer protection sleeve, the inner protection sleeve surrounding an exhaust-gas-side end region of the sensor element, the outer protection sleeve surrounding the inner protection sleeve at least in some regions, so that an annular space is formed between the outer protection sleeve and inner protection sleeve. The outer protection sleeve and the inner protection sleeve each have a gas outlet and a gas inlet.

Abstract: It is recognized It is recognized herein that current approaches to robotic picking lack efficiency and capabilities. In particular, current approaches often do not properly or efficiently estimate the pose of bins, due to various technical challenges in doing so, which can impact grasp computations and overall performance of a given robot. The pose of the bin can be determined or estimated based on depth images. Such bin pose estimation can be performed during runtime of a given robot, such that grasping can be enhanced due to the bin pose estimations.