Related papers: COMPAct: Computational Optimization and Automated …
The need to efficiently execute different Deep Neural Networks (DNNs) on the same computing platform, coupled with the requirement for easy scalability, makes Multi-Chip Module (MCM)-based accelerators a preferred design choice. Such an…
Automatic code optimization is a complex process that typically involves the application of multiple discrete algorithms that modify the program structure irreversibly. However, the design of these algorithms is often monolithic, and they…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
ComfyUI is a popular workflow-based interface that allows users to customize image generation tasks through an intuitive node-based system. However, the complexity of managing node connections and diverse modules can be challenging for…
Modern machine learning accelerators are designed to efficiently execute deep neural networks (DNNs) by optimizing data movement, memory hierarchy, and compute throughput. However, emerging DNN models such as large language models, state…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, which optimise over the full rigid-body dynamics of the…
Coverage Path Planning (CPP) is a fundamental capability for agricultural robots; however, existing solutions often overlook energy constraints, resulting in incomplete operations in large-scale or resource-limited environments. This paper…
This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and adduction of the shoulder for pediatric exosuits. The…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing…
Driver decision quality in take-overs is critical for effective human-Autonomous Driving System (ADS) collaboration. However, current research lacks detailed analysis of its variations. This paper introduces two metrics--Actual Achieved…
The recently advanced robotics technology enables robots to assist users in their daily lives. Haptic guidance (HG) improves users' task performance through physical interaction between robots and users. It can be classified into optimal…
The past decade has seen a rapid increase in the level of research interest in procedural content generation (PCG) for digital games, and there are now numerous research avenues focused on new approaches for driving and applying PCG…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
We study the problem of constrained efficient global optimization, where both the objective and constraints are expensive black-box functions that can be learned with Gaussian processes. We propose CONFIG (CONstrained efFIcient Global…
Planar electromagnetic actuators based on the principle of linear motors are widely employed for micro and nano positioning applications. These actuators usually employ a planar magnetic platform driven by a co-planar electromagnetic coil.…