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Adversarial Robustness Toolbox (ART) is a Python library supporting developers and researchers in defending Machine Learning models (Deep Neural Networks, Gradient Boosted Decision Trees, Support Vector Machines, Random Forests, Logistic…
This paper presents a deep reinforcement learning (DRL) framework for active flow control (AFC) to reduce drag in aerodynamic bodies. Tested on a 3D cylinder at Re = 100, the DRL approach achieved a 9.32% drag reduction and a 78.4% decrease…
Analog and mixed-signal (AMS) integrated circuits (ICs) lie at the core of modern computing and communications systems. However, despite the continued rise in design complexity, advances in AMS automation remain limited. This reflects the…
Large language model (LLM) agent evaluators leverage specialized tools to ground the rational decision-making of LLMs, making them well-suited to aid in scientific discoveries, such as constrained retrosynthesis planning. Constrained…
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…
In this paper, we introduce ASDKit, a toolkit for anomalous sound detection (ASD) task. Our aim is to facilitate ASD research by providing an open-source framework that collects and carefully evaluates various ASD methods. First, ASDKit…
We propose a model reference adaptive controller (MRAC) for uncertain linear time-invariant (LTI) plants with user-defined state and input constraints in the presence of unmatched bounded disturbances. Unlike popular optimization-based…
Current approaches to the engineering of space software such as satellite control systems are based around the development of feedback controllers using packages such as MatLab's Simulink toolbox. These provide powerful tools for…
In this paper, we present an early software integrating Reinforcement Learning (RL) with Model Predictive Control (MPC). Our aim is to make recent theoretical contributions from the literature more accessible to both the RL and MPC…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
We consider three challenges in multi-block Alternating Direction Method of Multipliers (ADMM): building convergence conditions for ADMM with any block (variable) sequence, finding available block sequences to be fit for ADMM, and designing…
Achieving sustainable, explainable, and maintainable automation for resource optimization is a core challenge across the edge-cloud continuum. Persistent overprovisioning and operational complexity often stem from heterogeneous platforms…
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is often impractical to implement on small, resource-constrained…
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…
Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…
More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…
Heavy computational load for solving nonconvex problems for large-scale systems or systems with real-time demands at each sample step has been recognized as one of the reasons for preventing a wider application of nonlinear model predictive…
In this paper we extend our recently proposed Deadzone-Adapted Disturbance Suppression (DADS) Control approach from systems with matched uncertainties to general systems in parametric strict feedback form. The DADS approach prevents gain…