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Interference-fit joints are typically adopted to produce permanent assemblies among mechanical parts. The resulting contact pressure is generally used for element fixing or to allow load transmission. Nevertheless, some special designs take…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…
Cochlear implant users struggle to understand speech in reverberant environments. To restore speech perception, artifacts dominated by reverberant reflections can be removed from the cochlear implant stimulus. Artifacts can be identified…
As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
The integration of large language models (LLMs) with vision-language (VL) tasks has been a transformative development in the realm of artificial intelligence, highlighting the potential of LLMs as a versatile general-purpose chatbot.…
We explain optical and mirrors displacement bistability in a hybrid optomechanical system in the presence of a strong laser driving field and a weak probe field. External modulating fields are applied selectively on movable mirrors. We show…
It was commonly believed that a mirror Chern insulator (MCI) must require spin-orbital coupling, since time-reversal symmetry for spinless systems contradicts with the mirror Chern number. So MCI cannot be realized in spinless systems which…
Autonomous manipulation in robot arms is a complex and evolving field of study in robotics. This paper introduces an innovative approach to this challenge by focusing on imitation learning (IL). Unlike traditional imitation methods, our…
An adaptive voting algorithm for digital media was introduced in this study. Availability was improved by incoherence scoring in voting mechanism of Multi-Modular Redundancy. Regulation parameters give the algorithm flexibility of adjusting…
In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails…
Bias mitigation of Language Models has been the topic of many studies with a recent focus on learning separate modules like adapters for on-demand debiasing. Besides optimizing for a modularized debiased model, it is often critical in…
Large Vision-Language Models (LVLMs) use their vision encoders to translate images into representations for downstream reasoning, but the encoders often underperform in domain-specific visual tasks such as medical image diagnosis or…
Audio-visual automatic speech recognition (AV-ASR) is an extension of ASR that incorporates visual cues, often from the movements of a speaker's mouth. Unlike works that simply focus on the lip motion, we investigate the contribution of…
Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…
Interactions with electronic devices are changing in our daily lives. The day-to-day development brings curiosity to recent technology and challenges its use. The gadgets are becoming cumbersome, and their usage frustrates a segment of…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Lexically constrained neural machine translation (NMT), which controls the generation of NMT models with pre-specified constraints, is important in many practical scenarios. Due to the representation gap between discrete constraints and…
It is increasingly considered that human speech perception and production both rely on articulatory representations. In this paper, we investigate whether this type of representation could improve the performances of a deep generative model…