Related papers: Toward Process Controlled Medical Robotic System
Traditional Business Process Management (BPM) struggles with rigidity, opacity, and scalability in dynamic environments while emerging Large Language Models (LLMs) present transformative opportunities alongside risks. This paper explores…
Industry 4.0 is an era of smart manufacturing. Manufacturing is impossible without the use of machinery. Majority of these machines comprise rotating components and are called rotating machines. The engineers' top priority is to maintain…
Scientific workflows are a cornerstone of modern scientific computing, and they have underpinned some of the most significant discoveries of the last decade. Many of these workflows have high computational, storage, and/or communication…
As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
Robotic-assisted minimally invasive surgery (MIS) has enabled procedures with increased precision and dexterity, but surgical robots are still open loop and require surgeons to work with a tele-operation console providing only limited…
In this paper, we consider a planning problem for a large-scale system modelled as a hierarchical finite state machine (HFSM) and develop a control algorithm for computing optimal plans between any two states. The control algorithm consists…
The increasing popularity of machine learning approaches and the rising awareness of data protection and data privacy presents an opportunity to build truly secure and trustworthy healthcare systems. Regulations such as GDPR and HIPAA…
Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including…
Scientific workflows consist of thousands of highly parallelized tasks executed in a distributed environment involving many components. Automatic tracing and investigation of the components' and tasks' performance metrics, traces, and…
We propose methods for analysis, design, and evaluation of Meaningful Human Control (MHC) for defense technologies from the perspective of military human-machine teaming (HMT). Our approach is based on three principles. Firstly, MHC should…
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…
Biological motor control provides highly effective solutions to difficult control problems in spite of the complexity of the plant and the significant delays in sensory feedback . Such delays are expected to lead to non trivial stability…
Applying LLM-based multi-agent software systems in safety-critical domains such as lifespan echocardiography introduces system-level risks that cannot be addressed by improving model accuracy alone. During system operation, beyond…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Cyber-Physical Systems (CPSs) are often safety-critical and deployed in uncertain environments. Identifying scenarios where CPSs do not comply with requirements is fundamental but difficult due to the multidisciplinary nature of CPSs. We…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
Thermoplastics injection molding allows the production of complex parts in large series. Industrial quality requirements are increasing. The injection molding process needs to be regulate in order to maintain a working point. There is…
The wide use of robotic systems contributed to developing robotic software highly coupled to the hardware platform running the robotic system. Due to increased maintenance cost or changing business priorities, the robotic hardware is…