Related papers: Tire Slip Angle Estimation based on the Intelligen…
When carrying out robotic manipulation tasks, objects occasionally fall as a result of the rotation caused by slippage. This can be prevented by obtaining tactile information that provides better knowledge on the physical properties of the…
Intelligent reflecting surface (IRS) has been widely recognized as an efficient technique to reconfigure the electromagnetic environment in favor of wireless communication performance. In this paper, we propose a new application of IRS for…
Modern railway traction systems are often equipped with anti-slip control strategies to comply with performance and safety requirements. A certain amount of slip is needed to increase the torque transferred by the traction motors onto the…
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…
This work deals with integration and transmission of safety information for smart railway vehicles and control and design of cooperative emergency brake systems for high speed trains. Due to increased speed of high-speed train, safety of…
The accurate online estimation of the road-friction coefficient is an essential feature for any advanced brake control system. In this study, a data-driven scheme based on a MLP Neural Net is proposed to estimate the optimum friction…
Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…
Winter conditions, characterized by the presence of ice and snow on the ground, are more likely to lead to road accidents. This paper presents an experimental proof of concept, with a 1/5th scale car platform, of a maneuver selection scheme…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
Vehicle speed monitoring and management of highways is the critical problem of the road in this modern age of growing technology and population. A poor management results in frequent traffic jam, traffic rules violation and fatal road…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
Velocity estimation plays a central role in driverless vehicles, but standard and affordable methods struggle to cope with extreme scenarios like aggressive maneuvers due to the presence of high sideslip. To solve this, autonomous race cars…
This paper presents a longitudinal slip control system for a rear-wheel-driven electric endurance race car. The control system integrates Model Predictive Control (MPC) with Extremum Seeking Control (ESC) to optimize the traction and…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…
In tunnel construction projects, delays induce high costs. Thus, tunnel boring machines (TBM) operators aim for fast advance rates, without safety compromise, a difficult mission in uncertain ground environments. Finding the optimal control…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…