Related papers: Designing, Building, Measuring and Testing a Const…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Security risk management can be applied on well-defined or existing systems; in this case, the objective is to identify existing vulnerabilities, assess the risks and provide for the adequate countermeasures. Security risk management can…
Pure-jump processes have been increasingly popular in modeling high-frequency financial data, partially due to their versatility and flexibility. In the meantime, several statistical tests have been proposed in the literature to check the…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic…
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and…
This paper presents a framework for decision-making regarding post-earthquake assessment of instrumented buildings in a manner consistent with performance-based design criteria. This framework is achieved by simultaneously combining and…
Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement learning to learn continuous jumping motions for quadrupedal…
The ground structure can substantially influence seismic ground motion underscoring the need to develop a ground structure model with sufficient reliability in terms of ground motion estimation for earthquake damage mitigation. While many…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
We consider the problem of designing control laws for stochastic jump linear systems where the disturbances are drawn randomly from a finite sample space according to an unknown distribution, which is estimated from a finite sample of…
When a fluid jet strikes an inclined solid surface at normal incidence, gravity creates a flow pattern with a thick outer rim resembling a parabola and reminiscent of a hydraulic jump. There appears to be little theory or experiments…
Computational methods to compute similarities between floor plans can help architects explore floor plans in large datasets to avoid duplication of designs and to search for existing plans that satisfy their needs. Recently, LayoutGMN…
Low speed does not always guarantee safety in off-road driving. For instance, crossing a ditch may be risky at a low speed due to the risk of getting stuck, yet safe at a higher speed with a controlled, accelerated jump. Achieving such…
Detecting impact where an individual makes contact with the ground within a fall event is crucial in fall detection systems, particularly for elderly care where prompt intervention can prevent serious injuries. The UP-Fall dataset, a key…
To identify the robust settings of the control factors, it is very important to understand how they interact with the noise factors. In this article, we propose space-filling designs for computer experiments that are more capable of…
The design of video game levels is a complex and critical task. Levels need to elicit fun and challenge while avoiding frustration at all costs. In this paper, we present a framework to assist designers in the creation of levels for 2D…
Slope movements (e.g. landslides) are dynamic systems that are complex in time and space and closely linked to both inherited and current preparatory and triggering controls. It is not yet possible to assess in all cases conditions for…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…