Related papers: Enabling Digitalization in Modular Robotic Systems…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
We propose a synthesis method for the design of digital twins applicable to various systems (pneumatic, hydraulic, electrical/electronic circuits). The methodology allows representing the operation of these systems through an active digital…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
The adoption process of innovative software-intensive technologies leverages complex trust concerns in different forms and shapes. Perceived safety plays a fundamental role in technology adoption, being especially crucial in the case of…
In this thesis, we draw inspiration from both classical system identification and modern machine learning in order to solve estimation problems for real-world, physical systems. The main approach to estimation and learning adopted is…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…
For a robot to be perfect and enter the everyday life of humans,like computers did, it needs to move from special-purpose robots to general-purpose. So, the idea of modularity is considered in this project.Thus, any type of task that falls…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
The use of robots in industrial settings continues to grow, driven by the need to address complex societal challenges such as labor shortages, aging populations, and ever-increasing production demands. In this abstract, we advocate for (and…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
In the era of large language models, model merging is a promising way to combine multiple task-specific models into a single multitask model without extra training. However, two challenges remain: (a) interference between different models…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Digital twins (DT) are often defined as a pairing of a physical entity and a corresponding virtual entity (VE), mimicking certain aspects of the former depending on the use-case. In recent years, this concept has facilitated numerous…
Three-dimensional integrated circuit (3D IC) pack-aging and heterogeneous integration have emerged as central pillars of contemporary semiconductor scaling. Yet, the multi-physics coupling inherent to stacked architectures manifesting as…
The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology…
This chapter provides an introduction to the foundations of digital twins and makes the case for employing them in smart grids. As engineered systems become more complex and autonomous, digital twin technology gains importance as the…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Complex mechatronic systems are typically composed of interconnected modules, often developed by independent teams. This development process challenges the verification of system specifications before all modules are integrated. To address…