Related papers: Reusability and Modifiability in Robotics Software…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Smart systems are characterised by their ability to analyse measured data in live and to react to changes according to expert rules. Therefore, such systems exploit appropriate data models together with actions, triggered by domain-related…
Usability issues can hinder the effective use of software. Therefore, various techniques are deployed to diagnose and mitigate them. However, these techniques are costly and time-consuming, particularly in iterative design and development.…
Quantum computers promise to solve certain problems that are intractable for classical computers, such as factoring large numbers and simulating quantum systems. To date, research in quantum computer engineering has focused primarily at…
The article proposes a method for optimizing the structure of the software and hardware complex of an automated control system for continuous technological processes for large industrial enterprises. General information is given on the…
One of the defining features of the field of robotics is its breadth and heterogeneity. Unfortunately, despite the availability of several robotics middleware services, robotics software still fails to smoothly handle at least two kinds of…
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…
Supercompilation is a powerful program transformation technique with numerous interesting applications. Existing methods of supercompilation, however, are often very unpredictable with respect to the size of the resulting programs. We…
We present a tool flow and results for a model-based hardware design for FPGAs from Simulink descriptions which nicely integrates into existing environments. While current commercial tools do not exploit some high-level optimizations, we…
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…
In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
Iteration limited model predictive control (MPC) can stabilize a feedback control system under sufficient conditions; this work explores combining a low iteration limit MPC with a high iteration limit MPC for mixed-integer quadratic…
This work explores methods to identify energy system designs for infeasible control co-design optimization problems. Control co-design, or CCD, has been recognized as a powerful tool to maximize energy system capabilities through…
Version control is critical in mechanical computer-aided design (CAD) to enable traceability, manage product variation, and support collaboration. Yet, its implementation in modern CAD software as an essential information infrastructure for…
Many Embedded Systems are indeed Software Based Control Systems (SBCSs), that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…