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The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of the robot, interaction with the robot is enhanced. However,…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
The amount of energy consumed during the execution of software, and the ability to predict future consumption, is an important factor in the design of embedded electronic systems. In this technical report I examine factors in the execution…
The importance of low power consumption is widely acknowledged due to the increasing use of portable devices, which require minimizing the consumption of energy. The energy in a computational system depends heavily on the software being…
Energy-centric design is paramount in the current embedded computing era: use cases require increasingly high performance at an affordable power budget, often under real-time constraints. Hardware heterogeneity and parallelism help address…
Every day, we experience the effects of the global warming: extreme weather events, major forest fires, storms, global warming, etc.The scientific community acknowledges that this crisis is a consequence of human activities where…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Energy consumption in robotic arms is a significant concern in industrial automation due to rising operational costs and environmental impact. This study investigates the use of a local reduction method to optimize energy efficiency in…
The ever increasing adoption of mobile devices with limited energy storage capacity, on the one hand, and more awareness of the environmental impact of massive data centres and server pools, on the other hand, have both led to an increased…
For a general standardized testing algorithm designed to evaluate a specific aspect of a robot's performance, several key expectations are commonly imposed. Beyond accuracy (i.e., closeness to a typically unknown ground-truth reference) and…
Recent technological advances have greatly improved the performance and features of embedded systems. With the number of just mobile devices now reaching nearly equal to the population of earth, embedded systems have truly become…
Control of systems of automated guided vehicles involves action planning at many levels. For efficient control of these systems, accurate estimation of cost parameters (speed, energy, task completion performance, \textit{et~cetera} is…
Generalist robot manipulation policies are becoming increasingly capable, but are limited in evaluation to a small number of hardware rollouts. This strong resource constraint in real-world testing necessitates both more informative…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be…
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the…
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…
The rapid advancement of Artificial Intelligence (AI) has created unprecedented demands for computational power, yet methods for evaluating the performance, efficiency, and environmental impact of deployed models remain fragmented. Current…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Accurate and reliable measurement of energy consumption is critical for making well-informed design choices when choosing and training large scale NLP models. In this work, we show that existing software-based energy measurements are not…