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The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…
Modern commercial Heating, Ventilation, and Air Conditioning (HVAC) devices form a complex and interconnected thermodynamic system with the building and outside weather conditions, and current setpoint control policies are not fully…
Aerial base stations (ABSs) allow smart farms to offload processing responsibility of complex tasks from internet of things (IoT) devices to ABSs. IoT devices have limited energy and computing resources, thus it is required to provide an…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
Simulations are a pedagogical means of enabling a risk-free way for healthcare practitioners to learn, maintain, or enhance their knowledge and skills. Such simulations should provide an optimum amount of cognitive load to the learner and…
Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
A RL (Reinforcement Learning) algorithm was developed for command automation onboard a 3U CubeSat. This effort focused on the implementation of macro control action RL, a technique in which an onboard agent is provided with compiled…
Studying the rapid variability of many astronomical objects is key to understanding the underlying processes at play. However, a combination of limited telescope availability, viewing constraints, and the unpredictable nature of many…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Physical exercise has significant benefits for humans in improving the health and quality of their lives, by improving the functional performance of their cardiovascular and respiratory systems. However, it is very important to control the…
Effective cognitive workload management has a major impact on the safety and performance of pilots. Integrating brain-computer interfaces (BCIs) presents an opportunity for real-time workload assessment. Leveraging cognitive workload data…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…