Related papers: Development of a planar cable-driven parallel robo…
Extreme precision radial velocity (EPRV) surveys usually require extensive observational baselines to confirm planetary candidates, making them resource-intensive. Traditionally, periodograms are used to identify promising candidate signals…
In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can often be recovered through reconfiguration of the cable…
Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the…
This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…
Integrated sensing and communication (ISAC) is a key technology for enabling a wide range of applications in future wireless systems. However, the sensing performance is often degraded by model mismatches caused by geometric errors (e.g.,…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…
In this paper, adaptive pilot beam sequence design for channel estimation in large millimeter-wave (mmWave) MIMO systems is considered. By exploiting the sparsity of mmWave MIMO channels with the virtual channel representation and imposing…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
We present a novel solution to automated beam alignment optimization. This device is based on a Raspberry Pi computer, stepper motors, commercial optomechanics and electronic devices, and the open source machine learning algorithm M-LOOP.…
Mobility scenarios involving short contact times pose a challenge for high bandwidth data transfer between autonomous vehicles and roadside base stations (BS). Millimeter wave bands are a viable solution as they offer enormous bandwidth in…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
In order to cope with the severe path loss, millimeter-wave (mm-wave) systems exploit highly directional communication. As a consequence, even a slight beam misalignment between two communicating devices (for example, due to mobility) can…
This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric…
Terahertz (THz) communications, with their substantial bandwidth, are essential for meeting the ultra-high data rate demands of emerging high-mobility scenarios such as vehicular-to-everything (V2X) networks. In these contexts, beamwidth…
Accurate precise positioning at millimeter wave frequencies is possible due to the large available bandwidth that permits precise on-the-fly time of flight measurements using conventional air interface standards. In addition, narrow antenna…
We present a learning-based mapless motion planner by taking the sparse 10-dimensional range findings and the target position with respect to the mobile robot coordinate frame as input and the continuous steering commands as output.…
Millimeter wave (mmWave) communications can potentially meet the high data-rate requirements of unmanned aerial vehicle (UAV) networks. However, as the prerequisite of mmWave communications, the narrow directional beam tracking is very…
Millimeter-wave (mm-Wave) cellular systems are a promising option for a very high data rate communication because of the large bandwidth available at mm-Wave frequencies. Due to the large path-loss exponent in the mm-Wave range of the…