Related papers: CyberDiver: an untethered robotic impactor for wat…
Microswimmers play an important role in shaping the world around us. The squirmer is a simple model for microswimmer whose cilia oscillations on its spherical surface induce an effective slip velocity to propel itself. The rapid development…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…
Operation of radar equipment is one of the key facilities used by navigators to gather situational awareness about their surroundings. With an ever increasing need for always-running logistics and tighter shipping schedules, operators are…
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an…
Cyber-physical control systems, such as industrial control systems (ICS), are increasingly targeted by cyberattacks. Such attacks can potentially cause tremendous damage, affect critical infrastructure or even jeopardize human life when the…
Microswimmers are sub-millimeter swimming microrobots that show potential as a platform for controllable locomotion in applications including targeted cargo delivery and minimally invasive surgery. To be viable for these target…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
Research on untethered micro-swimming robots is growing fast owing to their potential impact on minimally invasive medical procedures. Candidate propulsion mechanisms of robots are based on flagellar mechanisms of microorganisms such as…
Industrial Control Systems (ICS) are evolving with advances in new technology. The addition of wireless sensors and actuators and new control techniques means that engineering practices from communication systems are being integrated into…
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…
With the rising popularity of telerobotic systems, the focus on transparency with regards to haptic perception is also increasing. Transparency, however, represents a theoretical ideal as most bilateral force-reflecting telerobots introduce…
Over the past decade, industrial control systems have experienced a massive integration with information technologies. Industrial networks have undergone numerous technical transformations to protect operational and production processes,…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…
Camphor is a well-studied material capable of generating self-propelled motion at a water surface, and the resulting dynamics can exhibit a wide range of behaviors. Here, we analyze a one-dimensional model describing a mobile camphor disk…
This paper presents an approach for autonomous underwater robots to visually detect and identify divers. The proposed approach enables an autonomous underwater robot to detect multiple divers in a visual scene and distinguish between them.…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a…