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In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
Multiple model reduction techniques have been proposed to tackle linear and non linear problems. Intrusive model order reduction techniques exhibit high accuracy levels, however, they are rarely used as a standalone industrial tool, because…
In this paper, we propose a new mixed-integer linear programming (MILP) model ontology and a novel constraint typology of MILP formulations. MILP is a commonly used mathematical programming technique for modelling and solving real-life…
We present two behavioral models of an autonomous vehicle and its interaction with the environment. Both models use the formal modeling language LNT provided by the CADP toolbox. This paper discusses the modeling choices and the challenges…
Direct manipulation has been established as the main interaction paradigm for Computer-Aided Design (CAD) for decades. It provides fast, incremental, and reversible actions that allow for an iterative process on a visual representation of…
Advances in industrial control lead to increasing incorporation of intercommunication technologies and embedded devices into the production environment. In addition to that, the rising complexity of automation tasks creates demand for…
This paper presents the modular automation for reuse in manufacturing systems (modAT4rMS) approach to support the model-driven engineering (MDE) of object oriented manufacturing automation software with regard to its usability and software…
We study an online linear programming (OLP) problem under a random input model in which the columns of the constraint matrix along with the corresponding coefficients in the objective function are generated i.i.d. from an unknown…
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…
In many areas of engineering, nonlinear numerical analysis is playing an increasingly important role in supporting the design and monitoring of structures. Whilst increasing computer resources have made such formerly prohibitive analyses…
Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…
In embedded control systems, the potential risks of software defects have been increasing because of software complexity which leads to, for example, timing related problems. These defects are rarely found by tests or simulations. To detect…
Complex real-time control system is a software dense and algorithms dense system, which needs modern software engineering techniques to design. UML is an object-oriented industrial standard modeling language, used more and more in real-time…
Aiming at automating the different trades intervening in mechanical parts' design activities, one finds the weakest link within the interface linking the computer aided-design trade (CAD) and the process planning trade (CAPP) where a huge…
We present an autonomous scanning droplet cell platform designed for on-demand alloy electrodeposition and real-time electrochemical characterization for investigating the corrosion-resistance properties of multicomponent alloys. Automation…
Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, although very little is…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Control Systems, particularly closed-loop control systems (CLCS), are frequently used in production machines, vehicles, and robots nowadays. CLCS are needed to actively align actual values of a process to a given reference or set values in…
Sorting cells based on their mechanical properties is essential for applications in disease diagnostics, cell therapy, and biomedical research. Deterministic Lateral Displacement (DLD) devices provide a label-free method for achieving such…