Related papers: Real-time Communication between Robot PLC and PC o…
Co-simulation offers an integrated approach for modeling the large-scale integration of inverter-based resources (IBRs) into transmission and distribution grids. This paper presents a scalable communication interface design and…
In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and their corresponding friction cone. To this end, we set up a…
The ongoing surge in applications of robotics brings both opportunities and challenges for the fifth-generation (5G) and beyond (B5G) of communication networks. This article focuses on 5G/B5G-enabled terrestrial robotic communications with…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
The Rate Control Protocol (RCP) is a congestion control protocol that relies on explicit feedback from routers. RCP estimates the flow rate using two forms of feedback: rate mismatch and queue size. However, it remains an open design…
Edge robotics involves frequent exchanges of large-volume multi-modal data. Existing methods ignore the interdependency between robotic functionalities and communication conditions, leading to excessive communication overhead. This paper…
With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…
Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprogramming, various interfaces using augmented reality have…
Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…
The remote wireless control of industrial systems is one of the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that need to be shared over the wireless medium may overload even…
Real-time applications require latencies on the order of a millisecond with very high reliabilities, paralleling the requirements for high-performance industrial control. Current wireless technologies like WiFi, Bluetooth, LTE, etc. are…
Perimeter Control (PC) strategies have been proposed to address urban road network control in oversaturated situations by regulating the transfer flow of the Protected Network (PN) based on the Macroscopic Fundamental Diagram (MFD). The…
Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming increasingly popular in fields such as robotics. However,…
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…
We experimentally verify a fast control plane with 100 microseconds of configuration time that can support more than 1000 racks, leveraged by a software-defined network controller and an industrial real-time Ethernet standard EtherCAT.
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
This dissertation explores the area of real-time IP networking for embedded devices, especially those with limited computational resources. With the increasing convergence of information and operational technologies in various industries,…
This paper proposes an agent-based approach toward a more natural interface between humans and machines. Large language models equipped with tools and the communication standard OPC UA are utilized to control machines in natural language.…
Ultra-reliable and low-latency communications (URLLC) is an emerging feature in 5G and beyond wireless systems, which is introduced to support stringent latency and reliability requirements of mission-critical industrial applications. In…
Communication among microscopic robots (nanorobots) can coordinate their activities for biomedical tasks. The feasibility of in vivo ultrasonic communication is evaluated for micron-size robots broadcasting into various types of tissues.…