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Regular inspection of rail valves and engines is an important task to ensure the safety and efficiency of railway networks around the globe. Over the past decade, computer vision and pattern recognition based techniques have gained traction…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs),…
A Building Automation System (BAS) has functions of monitoring and controlling the operation of all building sub-systems such as HVAC (Heating-Ventilation, Air-conditioning Control), electric consumption management, fire alarm control,…
This paper presents the design of an artificial vision system prototype for automatic inspection and monitoring of objects over a conveyor belt and using a Smart camera 2D BOA-INS. The prototype consists of a conveyor belt and an embedded…
The project we embarked on is making an electronic robot that can deliver a package along a set route through infrared sensors. It uses the infrared sensors to determine if the path it is following is correct or if it is off course. This is…
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows…
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…
Photorealistic 3D vehicle models with high controllability are essential for autonomous driving simulation and data augmentation. While handcrafted CAD models provide flexible controllability, free CAD libraries often lack the high-quality…
The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the world's largest single-dish radio telescope. Its large reflecting surface achieves unprecedented sensitivity but is prone to damage, such as dents and holes, caused by…
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
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…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
Ensuring the structural integrity of bridges is essential for maintaining infrastructure safety and promoting long-term sustainability. In this context, Indirect Structural Health Monitoring (ISHM) through drive-by bridge inspection emerges…
Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
Robot performance has advanced considerably both in and out of the factory, however in tightly constrained, unknown environments such as inside a jet engine or the human heart, current robots are less adept. In such cases where a borescope…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…