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Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Time domain simulation, i.e., modeling the system's evolution over time, is a crucial tool for studying and enhancing power system stability and dynamic performance. However, these simulations become computationally intractable for…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
This study develops an AI-based implementation of autonomous On-Orbit Servicing (OOS) mission to assist with spacecraft collision avoidance maneuvers (CAMs). We propose an autonomous `servicer' trained with Reinforcement Learning (RL) to…
This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator…
Teleoperation is vital in the construction industry, allowing safe machine manipulation from a distance. However, controlling machines at a joint level requires extensive training due to their complex degrees of freedom. Task space control…
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…
Motivated by a computer model calibration problem from the oil and gas industry, involving the design of a honeycomb seal, we develop a new Bayesian methodology to cope with limitations in the canonical apparatus stemming from several…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
Modern decision-making systems, from robots to web recommendation engines, are expected to adapt: to user preferences, changing circumstances or even new tasks. Yet, it is still uncommon to deploy a dynamically learning agent (rather than a…
This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model…
Detecting and interpreting operator actions, engagement, and object interactions in dynamic industrial workflows remains a significant challenge in human-robot collaboration research, especially within complex, real-world environments.…
We propose a new approach for modelling the functional behaviour of an Earth observation satellite. We leverage this approach in order to develop a safety critical software, a "telecommand verifier", that is in charge of checking onboard…
Visual Simultaneous Localization and Mapping (vSLAM) is a prevailing technology for many emerging robotic applications. Achieving real-time SLAM on mobile robotic systems with limited computational resources is challenging because the…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
We consider large-scale industrial computer model calibration, combining multi-output simulation with limited physical observation, involved in the development of a honeycomb seal. Toward that end, we adopt a localized sampling and…
The intrinsic compliance and high degree of freedom (DoF) of redundant soft manipulators facilitate safe interaction and flexible task execution. However, effective kinematic control remains highly challenging, as it must handle…
This study aims to develop a wearable device that collect health data from maintenance personnel and environmental conditions data in order to ensure the safety of the staff in industrial work areas where have different levels of risk…