Related papers: Design, Characterization, and Control of a Size Ad…
This study presents a novel analytical framework for modeling unsteady gas dynamics in parallel pipeline systems under leakage conditions. The proposed method introduces a time-dependent leakage mass flow rate function, which dynamically…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.). By "critically fast" we mean the fastest possible movement for transporting an…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
This paper defines a security injection region (SIR) to guarantee reliable operation of water distribution systems (WDS) under extreme conditions. The model of WDSs is highly nonlinear and nonconvex. Understanding the accurate SIRs of WDSs…
We formulate a control system model for the distributed flow of mixtures of highly heterogeneous gases through large-scale pipeline networks with time-varying injections of constituents, withdrawals, and control actions of compressors. This…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
This paper presents the plan of an in-pipe climbing robot that works utilizing a novel Three-Output Open Differential(3-OOD) component to navigate complex organizations of lines. Customary wheeled/followed in-pipe climbing robots are…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
Underground water and wastewater pipelines are vital for city operations but plagued by anomalies like leaks and infiltrations, causing substantial water loss, environmental damage, and high repair costs. Conventional manual inspections…
This study presents two models to optimize pressure management in water distribution networks. The first model forecasts pressure at distribution points and compares predictions with actual data to detect anomalies such as leaks and…
This paper proposes a variable flow control system in real time with deep learning using the segmentation of fruit trees in a pear orchard. The flow rate control in real time, undesired pressure fluctuation and theoretical modeling may…
This paper presents the design of an in-pipe climbing robot that operates using a novel `Three-output open differential'(3-OOD) mechanism to traverse complex networks of pipes. Conventional wheeled/tracked in-pipe climbing robots are prone…
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…