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Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
Backlash, also known as mechanical play, is a piecewise differentiable nonlinearity which exists in several actuated systems, comprising, e.g., rack-and-pinion drives, shaft couplings, toothed gears, and other machine elements. Generally,…
In the past two decades, autonomous driving has been catalyzed into reality by the growing capabilities of machine learning. This paradigm shift possesses significant potential to transform the future of mobility and reshape our society as…
Reservoir computing is a machine learning approach that can generate a surrogate model of a dynamical system. It can learn the underlying dynamical system using fewer trainable parameters and hence smaller training data sets than competing…
In this paper we consider different model reduction techniques for systems with moving loads. Due to the time-dependency of the input and output matrices, the application of time-varying projection matrices for the reduction offers new…
Recently, the problem of obtaining a short regular expression equivalent to a given finite automaton has been intensively investigated. Algorithms for converting finite automata to regular expressions have an exponential blow-up in the…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
As robot make their way out of factories into human environments, outer space, and beyond, they require the skill to manipulate their environment in multifarious, unforeseeable circumstances. With this regard, pushing is an essential motion…
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability,…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…
Intelligent escape is an interdisciplinary field that employs artificial intelligence (AI) techniques to enable robots with the capacity to intelligently react to potential dangers in dynamic, intricate, and unpredictable scenarios. As the…
The popularity of data augmentation techniques in machine learning has increased in recent years, as they enable the creation of new samples from existing datasets. Rotational augmentation, in particular, has shown great promise by…
Robotic-based compact storage and retrieval systems provide high-density storage in distribution center and warehouse applications. In the system, items are stored in bins, and the bins are organized inside a three-dimensional grid. Robots…
Safe reinforcement learning (RL) is still very challenging since it requires the agent to consider both return maximization and safe exploration. In this paper, we propose CUP, a Conservative Update Policy algorithm with a theoretical…
Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…
As Dynamic Random Access Memories (DRAM) scale, they are becoming increasingly susceptible to Row Hammer. By rapidly activating rows of DRAM cells (aggressor rows), attackers can exploit inter-cell interference through Row Hammer to flip…
Various methods for calculating the capacitance of unloaded rolling elements are compared to improve the electric characterization of rolling element bearings. Semi-analytical approximations and finite element simulations are applied and a…