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It is well established that resource failure, including robots and machines, in a manufacturing system can result in deadlocks. This issue not only hampers the system's performance but can also inflict significant damage on the…
Anti-lock Brake System (ABS) is a mandatory active safety feature on road vehicles with analogous systems for aircraft and locomotives. This feature aims to prevent locking of the wheels when braking and to improve the handling performance,…
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral…
The braking performance of the brake system is a target performance that must be considered for vehicle development. Apparent piston travel (APT) and drag torque are the most representative factors for evaluating braking performance. In…
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
Integrated electric parking brake (iEPB) is popularizing on passenger cars due to its easier operation and automatic functions. As a parking brake, EPB have to act as the secondary brake system in case of hydraulic brake failure. To…
Mechanisms are designed to perform functions in various fields. Often, there is no unique mechanism that performs a well-defined function. For example, vehicle suspensions are designed to improve driving performance and ride comfort, but…
The increasing demand for automation and flexibility drives the widespread adoption of heterogeneous automated guided vehicles (AGVs). This work intends to investigate a new scheduling problem in a material transportation system consisting…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
This paper proposes a semi-structural approach to verify the nonblockingness of a Petri net. We construct a structure, called minimax basis reachability graph (minimax-BRG): it provides an abstract description of the reachability set of a…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Braking system, the key module to ensure the safety and steer-ability of current vehicles, relies on extensive manual calibration during production. Reducing labor and time consumption while maintaining the Vehicle Braking Controller (VBC)…
Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…
In this paper, we propose a new autonomous braking system based on deep reinforcement learning. The proposed autonomous braking system automatically decides whether to apply the brake at each time step when confronting the risk of collision…
The lack of trust in algorithms is usually an issue when using Reinforcement Learning (RL) agents for control in real-world domains such as production plants, autonomous vehicles, or traffic-related infrastructure, partly due to the lack of…
Reliability analysis of mechatronic systems is a recent field and a dynamic branch of research. It is addressed whenever there is a need for reliable, available, and safe systems. The studies of reliability must be conducted earlier during…
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…
Our objective is to design a controlled system with a simple method for discrete event systems based on Petri nets. It is possible to construct the Petri net model of a system and the specification separately. By synchronous composition of…