Related papers: Automated machine vision control system for techno…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…
Planning is hard. The use of subgoals can make planning more tractable, but selecting these subgoals is computationally costly. What algorithms might enable us to reap the benefits of planning using subgoals while minimizing the…
The next generation of space systems will have to achieve more and more complex missions. In order to master the development cost and duration of such systems, an alternative to a manual design is to automatically synthesize the main…
In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a…
Integrated quantum optical hybrid devices consist of fundamental constituents such as single emitters and tailored photonic nanostructures. A reliable fabrication method requires the controlled deposition of active nanoparticles on…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
Electromechanical systems manage physical processes through a network of inter-connected components. Today, programming the interactions required for coordinating these components is largely a manual process. This process is time-consuming…
The paper presents an automated software tool for lossy compression of grayscale images. Its structure and facilities are described. The tool allows compressing images by different coders according to a chosen metric from an available set…
Because of the communication delay between earth and moon, the GNC technology of lunar probe is becoming more important than ever. Current navigation technology is not able to provide precise motion estimation for probe landing control…
Digital Twins are increasingly being introduced for smart manufacturing systems to improve the efficiency of the main disciplines of such systems. Formal techniques, such as graphs, are a common way of describing Digital Twin models,…
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a…
Multi-view capture systems are complex systems to engineer. They require technical knowledge to install and intricate processes to setup related mainly to the sensors' spatial alignment (i.e. external calibration). However, with the ongoing…
The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community…
The next generation of space systems will have to achieve more and more complex missions. In order to master the development cost and duration of such systems, an alternative to a manual design is to automatically synthesize the main…
This work investigates the manufacturing of complex shapes parts with wire arc additive manufacturing (WAAM). In order to guarantee the integrity and quality of each deposited layer that composes the final piece, the deposition process is…
Automated machinery design for garment manufacturing is essential for improving productivity, consistency, and quality. This paper focuses on the development of new pulling gear for automated pant bottom hem sewing machines. Traditionally,…
How can we manipulate the topological connectivity of a three-dimensional prismatic assembly to control the number of internal degrees of freedom and the number of connected components in it? To answer this question in a deterministic…
For various automated palletizing tasks, the detection of packaging units is a crucial step preceding the actual handling of the packaging units by an industrial robot. We propose an approach to this challenging problem that is fully…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
Cranes have long been essential equipment for lifting and placing heavy loads in construction projects. This study focuses on the lowering phase of crane operation, the stage in which the load is moved to the desired location. During this…