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Manual operations remain essential in industrial production because of their flexibility and low implementation cost. However, ensuring their quality and monitoring execution in real time remains a challenge, especially under conditions of…
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…
The upgrade to the ATLAS trigger for LHC Run 2 is presented including a description of the design and performance of the newly reimplemented tracking algorithms. The profiling infrastructure, constructed to provide prompt feedback from the…
Although virtual and augmented reality are gaining traction as teleoperation tools for various types of robots, including manipulators and mobile robots, they are not being used for soft robots. The inherent difficulties of modelling soft…
Execution monitoring is essential for robots to detect and respond to failures. Since it is impossible to enumerate all failures for a given task, we learn from successful executions of the task to detect visual anomalies during runtime.…
LiDAR sensors are used widely in Autonomous Vehicles for better perceiving the environment which enables safer driving decisions. Recent work has demonstrated serious LiDAR spoofing attacks with alarming consequences. In particular,…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…
Calibrating a robot simulator's physics parameters (friction, damping, material stiffness) to match real hardware is often done by hand or with black-box optimizers that reduce error but cannot explain which physical discrepancies drive the…
With the rapid development of deep reinforcement learning technology, it gradually demonstrates excellent potential and is becoming the most promising solution in the robotics. However, in the smart manufacturing domain, there is still not…
Real-time monitoring of critical parameters is essential for energy systems' safe and efficient operation. However, traditional sensors often fail and degrade in harsh environments where physical sensors cannot be placed (inaccessible…
Augmented Reality (AR) solutions are providing tools that could improve applications in the medical and industrial fields. Augmentation can provide additional information in training, visualization, and work scenarios, to increase…
As the demand for Internet of Things (IoT) and Human-to-Machine Interaction (HMI) increases, modern System-on-Chips (SoCs) offering such solutions are becoming increasingly complex. This intricate design poses significant challenges for…
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…
Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…
Credible safety plans for advanced AI development require methods to verify agent behavior and detect potential control deficiencies early. A fundamental aspect is ensuring agents adhere to safety-critical principles, especially when these…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…
Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…
Recent works have proposed several long term tracking benchmarks and highlight the importance of moving towards long-duration tracking to bridge the gap with application requirements. The current evaluation methodologies, however, do not…
Hand tracking is a critical component of natural user interactions in extended reality (XR) environments, including extended reality musical instruments (XRMIs). However, self-occlusion remains a significant challenge for vision-based hand…