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In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
In this paper, a Robust Multi-branch Deep learning-based system for remaining useful life (RUL) prediction and condition operations (CO) identification of rotating machines is proposed. In particular, the proposed system comprises main…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…
The design luminosity for the future linear colliders is very demanding and challenging. Beam-based feedback systems will be required to achieve the necessary beam-beam stability and steer the two beams into collision. In particular we have…
We present ROCK (Rolling One-motor Controlled rocK), a 1 degree-of-freedom robot consisting of a round shell and an internal pendulum. An uneven shell surface enables steering by using only the movement of the pendulum, allowing for…
Conventional concentrators with inhomogeneous coating materials that fully enclose the destined region pose great challenges for fabrication. In this paper, we propose to design an EM concentrator with homogeneous materials. Distinguished…
Designing materials or structures that can achieve asymmetric shape-shifting in response to symmetrically switching stimuli is a promising approach to enhance the locomotion performance of soft actuators/robots. Inspired by the geometry of…
We present a Reinforcement Learning-based Robust Nonlinear Model Predictive Control (RL-RNMPC) framework for controlling nonlinear systems in the presence of disturbances and uncertainties. An approximate Robust Nonlinear Model Predictive…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation makes force sensing,…
We present Large Inverse Rendering Model (LIRM), a transformer architecture that jointly reconstructs high-quality shape, materials, and radiance fields with view-dependent effects in less than a second. Our model builds upon the recent…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
The efficient operation of greenhouses is essential for enhancing crop yield while minimizing energy costs. This paper investigates a control strategy that integrates Reinforcement Learning (RL) and Model Predictive Control (MPC) to…
This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the…
Large Language Models (LLMs) have advanced rapidly in recent years, demonstrating strong capabilities in problem comprehension and reasoning. Inspired by these developments, researchers have begun exploring the use of LLMs as decentralized…
The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics…
Finding suitable features has been an essential problem in computer vision. We focus on Restricted Boltzmann Machines (RBMs), which, despite their versatility, cannot accommodate transformations that may occur in the scene. As a result,…
We propose an innovative beam cooling scheme based on laser driven plasma wakefields to address the challenge of high luminosity generation for a future linear collider. For linear colliders, beam cooling is realised by means of damping…