Related papers: Extending the Benefits of Parallel Elasticity acro…
Performance and energy are the two most important objectives for optimisation on modern parallel platforms. Latest research demonstrated the importance of workload distribution as a decision variable in the bi-objective optimisation for…
In this paper, we propose a novel resource management scheme that jointly allocates the transmit power and computational resources in a centralized radio access network architecture. The network comprises a set of computing nodes to which…
The objective of this work is to relate muscle effort distributions to the trajectory and resistance settings of a robotic exercise and rehabilitation machine. Muscular effort distribution, representing the participation of each muscle in…
Assessing the progression of muscle fatigue for daily exercises provides vital indicators for precise rehabilitation, personalized training dose, especially under the context of Metaverse. Assessing fatigue of multi-muscle…
Mobile-edge computing (MEC) has emerged as a prominent technique to provide mobile services with high computation requirement, by migrating the computation-intensive tasks from the mobile devices to the nearby MEC servers. To reduce the…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
We study how to support elasticity, i.e., the ability to dynamically adjust the parallelism (number of GPUs), for deep neural network (DNN) training. Elasticity can benefit multi-tenant GPU cluster management in many ways, e.g., achieving…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
In this work we study the problem of scheduling tasks with dependencies in multiprocessor architectures where processors have different speeds. We present the preemptive algorithm "Save-Energy" that given a schedule of tasks it post…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
In robotics and biomechanics, trading metabolic cost for kinematic readiness is a well-established principle. This paper formalizes this concept for aerial multirotors through the introduction of aerodynamic promptness -- a dynamic metric…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
Parallel applications often rely on work stealing schedulers in combination with fine-grained tasking to achieve high performance and scalability. However, reducing the total energy consumption in the context of work stealing runtimes is…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, friction, and complexity. This paper presents…
We consider energy-efficient scheduling on multiprocessors, where the speed of each processor can be individually scaled, and a processor consumes power $s^{\alpha}$ when running at speed $s$, for $\alpha>1$. A scheduling algorithm needs to…