Related papers: Vision-based control of a knuckle boom crane with …
In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…
We present a novel, automatic eye gaze tracking scheme inspired by smooth pursuit eye motion while playing mobile games or watching virtual reality contents. Our algorithm continuously calibrates an eye tracking system for a head mounted…
Industrial pumps are essential components in various sectors, such as manufacturing, energy production, and water treatment, where their failures can cause significant financial and safety risks. Anomaly detection can be used to reduce…
Insects use visual cues to control their flight behaviours. By estimating the angular velocity of the visual stimuli and regulating it to a constant value, honeybees can perform a terrain following task which keeps the certain height above…
The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…
Reinforcement learning control of an underground loader is investigated in simulated environment, using a multi-agent deep neural network approach. At the start of each loading cycle, one agent selects the dig position from a depth camera…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
Connected and automated vehicle (CAV) technology is one of the promising solutions to addressing the safety, mobility and sustainability issues of our current transportation systems. Specifically, the control algorithm plays an important…
Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…
Anomaly Detection involves identifying deviations from normal data distributions and is critical in fields such as medical diagnostics and industrial defect detection. Traditional AD methods typically require the availability of normal…
This paper addresses the lack of a general methodology for the controller synthesis of an optical instrument on-board a stratospheric balloon-borne platform, such as a telescope or siderostat, to meet pointing requirements that are becoming…
Efficiency and ease of use are essential for practical applications of camera based eye/gaze-tracking. Gaze tracking involves estimating where a person is looking on a screen based on face images from a computer-facing camera. In this paper…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs),…
One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop…
This work demonstrates direct visual sensory-motor control using high-speed CNN inference via a SCAMP-5 Pixel Processor Array (PPA). We demonstrate how PPAs are able to efficiently bridge the gap between perception and action. A binary…
This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is…
Surgical treatment of complicated knee fractures is guided by real-time imaging using a mobile C-arm. Immediate and continuous control is achieved via 2D anatomy-specific standard views that correspond to a specific C-arm pose relative to…
The control of a tail-sitter aircraft is a challenging task, especially during transition maneuver where the lift and drag forces are highly nonlinear. In this work, we implement a Neural Network (NN) capable of estimate such…
The main advantage of quantum metrology relies on the effective use of entanglement, which indeed allows us to achieve strictly better estimation performance over the standard quantum limit. In this paper, we propose an analogous method…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…