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Industrial inspection automation in aerospace presents numerous challenges due to the dynamic, information-rich and regulated aspects of the domain. To diagnose the condition of an aircraft component, expert inspectors rely on a significant…
Cyber-Physical Systems (CPS) now support critical infrastructure spanning transportation, energy, manufacturing, medical devices, and autonomous robotics. Their defining characteristic is the tight coupling between digital computation and…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
Photolithography control system (PCS) is an extremely complex distributed control system, which is composed of dozens of networked microprocessors, hundreds of actuators, hundreds of thousands of sensors, and millions of lines of code.…
Cyber-Physical Systems (CPSs) employed for Industrial Automation often require the adoption of a hybrid data processing approach mediating between cloud, edge, and fog computing paradigms. Nowadays, it is possible to shift data…
Embedded cyber-physical systems (CPS) are commonly built upon heterogeneous digital and analog integrated circuits, including sensors and actuators. Less common is their deployment on parallel, NoC based designs based on general purpose…
Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditional tethered sensor configurations often…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
This paper describes experimental results regarding the real time implementation of continuous time recurrent neural networks (CTRNN) and the dynamic back-propagation through time (BPTT) algorithm for the on-line learning control laws.…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…
Pendulums are simple mechanical systems that have been studied for centuries and exhibit many aspects of modern dynamical systems theory. In particular, the double pendulum is a prototypical chaotic system that is frequently used to…
Homeostasis keeps animals alive; it is a fundamental process that allows animals to adapt quickly to their environment. Artificial homeostasis can be used to help robots adapt to changing environments. Previous attempts at developing…
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand such compact and lightweight designs. This paper considers…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…