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Smart grids extremely rely on Information and Communications Technology (ICT) and smart meters to control and manage numerous parameters of the network. However, using these infrastructures make smart grids more vulnerable to cyber threats…
This technical paper provides a tutorial to build a low-cost (10-100 USD) and easy to assemble ECG device (ArdMob-ECG) that can be easily used for a variety of different scientific studies. The advantage of this device is that it…
Modern precision experiments trapping low-energy particles require detailed simulations of particle trajectories and spin precession to determine systematic measurement limitations and apparatus deficiencies. We developed PENTrack, a tool…
Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that can utilize unconventional mobility through hopping, flying or rolling can overcome these limitations.…
Reinforcement learning in partially observed Markov decision processes (POMDPs) faces two challenges. (i) It often takes the full history to predict the future, which induces a sample complexity that scales exponentially with the horizon.…
Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use of these platforms,…
By taking full advantage of Computing, Communication and Caching (3C) resources at the network edge, Mobile Edge Computing (MEC) is envisioned as one of the key enablers for the next generation networks. However, current fixed-location MEC…
As electric vehicle (EV) numbers rise, concerns about the capacity of current charging and power grid infrastructure grow, necessitating the development of smart charging solutions. While many smart charging simulators have been developed…
In this paper, we present a deep learning-based network, GCNv2, for generation of keypoints and descriptors. GCNv2 is built on our previous method, GCN, a network trained for 3D projective geometry. GCNv2 is designed with a binary…
Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying…
We present an imitation learning approach for spacecraft guidance, navigation, and control(GNC) that achieves high performance from limited data. Using only 100 expert demonstrations, equivalent to 6,300 environment interactions, our…
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Developing real-time automated test systems for embedded control systems has been a real problem. Some engineers and scientists have used customized software and hardware as a solution, which can be very expensive and time consuming to…
Guidance & control networks (G&CNETs) provide a promising alternative to on-board guidance and control (G&C) architectures for spacecraft, offering a differentiable, end-to-end representation of the guidance and control architecture. When…
The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this paper, first, computed torque model is generated to…
We propose a novel approach to Graduated Non-Convexity (GNC) and demonstrate its efficacy through its application in robust pose graph optimization, a key component in SLAM backends. Traditional GNC methods often rely on heuristic methods…
Unified virtual oscillator controller (uVOC) inherits the rigorous analytical foundation offered by oscillator based grid-forming (GFM) controllers and enables fast over-current limiting and fault ride-through (FRT). Control design for…