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Manipulation in clutter requires solving complex sequential decision making problems in an environment rich with physical interactions. The transfer of motion planning solutions from simulation to the real world, in open-loop, suffers from…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
Medical image processing is often limited by the computational cost of the involved algorithms. Whereas dedicated computing devices (GPUs in particular) exist and do provide significant efficiency boosts, they have an extra cost of use in…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
In this paper, we propose a novel training strategy for convolutional neural network(CNN) named Feature Mining, that aims to strengthen the network's learning of the local feature. Through experiments, we find that semantic contained in…
Blanking processes belong to the most widely used manufacturing techniques due to their economic efficiency. Their economic viability depends to a large extent on the resulting product quality and the associated customer satisfaction as…
Integrated photonic neural networks (PNNs) are at the forefront of AI computing, leveraging on light's unique properties, such as large bandwidth, low latency, and potentially low power consumption. Nevertheless, the integrated optical…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
The Outstanding performance and growing size of Large Language Models has led to increased attention in parameter efficient learning. The two predominant approaches are Adapters and Pruning. Adapters are to freeze the model and give it a…
This work proposes a way to align statistical modeling with decision making. We provide a method that propagates the uncertainty in predictive modeling to the uncertainty in operational cost, where operational cost is the amount spent by…
Even though the Convolutional Neural Networks (CNN) has shown superior results in the field of computer vision, it is still a challenging task to implement computer vision algorithms in real-time at the edge, especially using a low-cost IoT…
In predictive maintenance, model performance is usually assessed by means of precision, recall, and F1-score. However, employing the model with best performance, e.g. highest F1-score, does not necessarily result in minimum maintenance…
Plane arrangements are a useful tool for surface and volume modelling. However, their main drawback is poor scalability. We introduce two key novelties that enable the construction of plane arrangements for complex objects and entire…
We present an algorithm for non-holonomic motion planning (or 'parking a car') that is as computationally efficient as a simple approach to solving the famous Piano-mover's problem, where the non-holonomic constraints are ignored. The core…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
Recent evolutions on forging process induce more complex shape on forging die. These evolutions, combined with High Speed Machining (HSM) process of forging die lead to important increase in time for machining preparation. In this context,…