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Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…

Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their precision performance. This article focuses on data-driven…

Increasingly, visual signals such as images, videos and point clouds are being captured solely for the purpose of automated analysis by computer vision models. Applications include traffic monitoring, robotics, autonomous driving, smart…

Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…

First-order operator splitting methods are ubiquitous among many fields through science and engineering, such as inverse problems, signal/image processing, statistics, data science and machine learning, to name a few. In this paper, we…

The most important aim in tool path generation methods is to increase the machining efficiency by minimizing the total length of tool paths while the error is kept under a prescribed tolerance. This can be achieved by determining the moving…

Modern computer architectures support low-precision arithmetic, which present opportunities for the adoption of mixed-precision algorithms to achieve high computational throughput and reduce energy consumption. As a growing number of…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…

The main objective of this work is to develop a miniaturized, high accuracy, single-turn absolute, rotary encoder called ASTRAS360. Its measurement principle is based on capturing an image that uniquely identifies the rotation angle. To…

We introduce a multimodal industrial fault analysis dataset collected from a single-speed chain conveyor (SSCC) system, targeting system-level fault detection in production lines. The dataset consists of multimodal signals, including three…

This paper considers errors-in-variables models in a high-dimensional setting where the number of covariates can be much larger than the sample size, and there are only a small number of non-zero covariates. The presence of measurement…

The noise generated by the friction of two rough surfaces under weak contact pressure is usually called roughness noise. The underlying vibration which produces the noise stems from numerous instantaneous shocks (in the microsecond range)…

Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…

Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper…

The rise of transient faults in modern hardware requires system designers to consider errors occurring at runtime. Both hardware- and software-based error handling must be deployed to meet application reliability requirements. The level of…

Measurement error is a pervasive issue which renders the results of an analysis unreliable. The measurement error literature contains numerous correction techniques, which can be broadly divided into those which aim to produce exactly…

Scanning Laser Doppler Vibrometer (SLDV) measurements are affected by sensor head vibrations as if they are vibrations of the target surface itself. This paper presents practical correction schemes to solve this important problem. The study…

The detection and identification of induction motor faults using machine learning and signal processing is a valuable approach to avoiding plant disturbances and shutdowns in the context of Industry 4.0. In this work, we present a study on…