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Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
High-order tensor decomposition has been widely adopted to obtain compact deep neural networks for edge deployment. However, existing studies focus primarily on its algorithmic advantages such as accuracy and compression ratio-while…
We consider the bilinear optimal control of an advection-reaction-diffusion system, where the control arises as the velocity field in the advection term. Such a problem is generally challenging from both theoretical analysis and algorithmic…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
A conceptual design of a launch vehicle involves the optimization of trajectory and stages considering its launch operations. This process encompasses various disciplines, such as structural design, aerodynamics, propulsion systems, flight…
This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
Convolutional Neural Networks (CNNs) have become common in many fields including computer vision, speech recognition, and natural language processing. Although CNN hardware accelerators are already included as part of many SoC…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Large amplitude vibrations can cause hazards and failure to engineering structures. Active control has been an effective strategy to suppress vibrations, but it faces great challenges in the real-time control of nonlinear flexible…
The precision motion industry has an ever-increasing demand for faster, more precise and more robust controllers. From the perspective of frequency domain and loopshaping technique, this demand has pushed the linear controllers to their…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
Offloading compute intensive nested loops to execute on FPGA accelerators have been demonstrated by numerous researchers as an effective performance enhancement technique across numerous application domains. To construct such accelerators…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Training on edge devices poses several challenges as these devices are generally resource-constrained, especially in terms of power. State-of-the-art techniques at the device level reduce the GPU frequency to enforce power constraints,…
The rapid growth of resource-constrained mobile platforms, including mobile robots, wearable systems, and Internet-of-Things devices, has increased the demand for computationally efficient neural network controllers (NNCs) that can operate…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Computer Aided Control System Design (CACSD) allows to analyze complex interconnected systems and design controllers achieving challenging control requirements. We extend CACSD to systems with time delays and illustrate the functionality of…
Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the…