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Control over surface temperature is of paramount importance in optoelectronics, photocatalysis and biosensing applications, among others. Thermoplasmonic approaches have demonstrated unrivalled performance for controlling surface…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Autonomous systems rely on sensors to estimate the environment around them. However, cameras, LiDARs, and RADARs have their own limitations. In nighttime or degraded environments such as fog, mist, or dust, thermal cameras can provide…
The number of electrified powertrains is ever increasing today towards a more sustainable future; thus, it is essential that unwanted failures are prevented, and a reliable operation is secured. Monitoring the internal temperatures of…
The precise measurement of temperature is crucial in various fields such as biology, medicine, industrial automation, energy management, and daily life applications. While in most scenarios, sensors with a fixed thermal conductivity…
A method for active control of the spatial profile of a laser beam using adaptive thermal lensing is described. A segmented electrical heater was used to generate thermal gradients across a transmissive optical element, resulting in a…
Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
The electrification of powertrains is rising as the objective for a more viable future is intensified. To ensure continuous and reliable operation without undesirable malfunctions, it is essential to monitor the internal temperatures of…
A closed-loop control of a reaction-diffusion type process is introduced. The control system consist of a finite number of control and measurement devices. The measurement devices collect information about the current state of the process.…
The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
Telepresence is a necessity for present time as we can't reach everywhere and also it is useful in saving human life at dangerous places. A robot, which could be controlled from a distant location, can solve these problems. This could be…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Safely moving through environments affected by fire is a critical capability for autonomous mobile robots deployed in disaster response. In this work, we present a novel approach for mobile robots to understand fire through building…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…