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This letter proposes a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external…
Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…
The purpose of gesture recognition is to recognize meaningful movements of human bodies, and gesture recognition is an important issue in computer vision. In this paper, we present a multimodal gesture recognition method based on 3D densely…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
Deep Neural Networks (DNNs) are widely being adopted for safety-critical applications, e.g., healthcare and autonomous driving. Inherently, they are considered to be highly error-tolerant. However, recent studies have shown that hardware…
One of the main concerns in design and process planning for multi-axis additive and subtractive manufacturing is collision avoidance between moving objects (e.g., tool assemblies) and stationary objects (e.g., a part unified with fixtures).…
In this paper, a deep neural network with interpretable motion compensation called CS-MCNet is proposed to realize high-quality and real-time decoding of video compressive sensing. Firstly, explicit multi-hypothesis motion compensation is…
A new convolutional neural network (CNN) architecture for 2D driver/passenger pose estimation and seat belt detection is proposed in this paper. The new architecture is more nimble and thus more suitable for in-vehicle monitoring tasks…
Flexible endoscopic robots enable minimally invasive access through natural orifices, but their control accuracy is limited by configuration-dependent hysteresis in the tendon-sheath mechanisms (TSMs). Tendon-sheath friction and tendon…
Focal cortical dysplasia (FCD) is a leading cause of drug-resistant focal epilepsy, which can be cured by surgery. These lesions are extremely subtle and often missed even by expert neuroradiologists. "Ground truth" manual lesion masks are…
Traffic prediction is a critical component of intelligent transportation systems, enabling applications such as congestion mitigation and accident risk prediction. While recent research has explored both graph-based and grid-based…
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…
Deep convolutional neural network (CNN) inference requires significant amount of memory and computation, which limits its deployment on embedded devices. To alleviate these problems to some extent, prior research utilize low precision…
Most deep network methods for compressive sensing reconstruction suffer from the black-box characteristic of DNN. In this paper, a deep neural network with interpretable motion estimation named CSMCNet is proposed. The network is able to…
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure and non-linear curvature pose significant challenges for…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
This paper introduces a robust stress detection system utilizing a Convolutional Neural Network (CNN) designed for the analysis of Photoplethysmogram (PPG) signals. Employing the WESAD dataset, we applied Continuous Wavelet Transform (CWT)…
Deep neural networks (DNNs) frequently contain far more weights, represented at a higher precision, than are required for the specific task which they are trained to perform. Consequently, they can often be compressed using techniques such…
Fault diagnosis of rotating machinery is an important engineering problem. In recent years, fault diagnosis methods based on the Convolutional Neural Network (CNN) and Recurrent Neural Network (RNN) have been mature, but Transformer has not…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…