Related papers: A Genetic Fuzzy-Enabled Framework on Robotic Manip…
An improved bilinear fuzzy genetic algorithm (BFGA) is introduced in this chapter for the design optimization of steel structures with semi-rigid connections. Semi-rigid connections provide a compromise between the stiffness of fully rigid…
Fuzz testing (or fuzzing) is an effective technique used to find security vulnerabilities. It consists of feeding a software under test with malformed inputs, waiting for a weird system behaviour (often a crash of the system). Over the…
We present a multi-query recovery policy for a hybrid system with goal limit cycle. The sample trajectories and the hybrid limit cycle of the dynamical system are stabilized using locally valid Time Varying LQR controller policies which…
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…
Autonomous service robots share social spaces with humans, usually working together for domestic or professional tasks. Cyber security breaches in such robots undermine the trust between humans and robots. In this paper, we investigate how…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
High-level synthesis (HLS) is the next emerging trend for designing complex customized architectures for applications such as Machine Learning, Video Processing. It provides a higher level of abstraction and freedom to hardware engineers to…
The concepts of stability and balance represent many critical problems faced by engineering today. The inverted pendulum on a cart is one such non-linear, unstable, multivariate system whose goal is to determine a suitable control action…
When designing a power or CPU constrained device where a four-axis robotic arm is required and access to the Robot Operating System (ROS) is not an option, finding an efficient state space controller for a four-axis arm can be an obstacle.…
We provide a rigorous framework for handling uncertainty in quantitative fault tree analysis based on fuzzy theory. We show that any algorithm for fault tree unreliability analysis can be adapted to this framework in a fully general and…
The Cloud infrastructure offers to end users a broad set of heterogenous computational resources using the pay-as-you-go model. These virtualized resources can be provisioned using different pricing models like the unreliable model where…
Robotic telesurgery has a potential to provide extreme and urgent health care services and bring unprecedented opportunities to deliver highly specialized skills globally. It has a significant societal impact and is regarded as one of the…
The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited command of its acceleration and a constrained amount of time…
Cloud computing is one of the most used distributed systems for data processing and data storage. Due to the continuous increase in the size of the data processed by cloud computing, scheduling multiple tasks to maintain efficiency while…
Cellular-enabled collaborative robots are becoming paramount in Search-and-Rescue (SAR) and emergency response. Crucially dependent on resilient mobile network connectivity, they serve as invaluable assets for tasks like rapid victim…
This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…
While differentiable control has emerged as a powerful paradigm combining model-free flexibility with model-based efficiency, the iterative Linear Quadratic Regulator (iLQR) remains underexplored as a differentiable component. The…
A properly designed handoff algorithm is essential in reducing the connection quality deterioration when a mobile node moves across the cell boundaries. Therefore, to improve communication quality, we identified three goals in our paper.…