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CRISTAL is a distributed scientific workflow system used in the manufacturing and production phases of HEP experiment construction at CERN. The CRISTAL project has studied the use of a description driven approach, using meta- modelling…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
In the modern semiconductor industry, automatic generation of parameterized and recurring layout structures plays an important role and should be present as a feature in Electronic Design Automation (EDA)-tools. Currently these layout…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
Accurate robot segmentation is a fundamental capability for robotic perception. It enables precise visual servoing for VLA systems, scalable robot-centric data augmentation, accurate real-to-sim transfer, and reliable safety monitoring in…
In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…
Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of…
The technocrat epoch is overflowing with new technologies and such cutting-edge facilities accompany the risks and pitfalls. Robotic process automation is another innovation that empowers the computerization of high-volume, manual,…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
Designing robots to support high-stakes teamwork in emergency settings presents unique challenges, including seamless integration into fast-paced environments, facilitating effective communication among team members, and adapting to rapidly…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial.…
Ensuring flexible and efficient manufacturing of customized products in an increasing dynamic and turbulent environment without sacrificing cost effectiveness, product quality and on-time delivery has become a key issue for most industrial…
Modern field programmable gate array(FPGA) can be partially dynamically reconfigurable with heterogeneous resources distributed on the chip. And FPGA-based partially dynamically reconfigurable system(FPGA-PDRS) can be used to accelerate…