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Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
Over the last years, security kernels have played a promising role in reshaping the landscape of platform security on today's ubiquitous embedded devices. Security kernels, such as separation kernels, enable constructing high-assurance…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
By advances in technology, integrated circuits have come to include more functionality and more complexity in a single chip. Although methods of testing have improved, but the increase in complexity of circuits, keeps testing a challenging…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills,…
The growing complexity of real-time embedded systems demands strong isolation of software components into separate protection domains to reduce attack surfaces and limit fault propagation. However, application-supplied device interrupt…
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel…
The use of computer vision in automotive is a trending research in which safety and security are a primary concern. In particular, for autonomous driving, preventing road accidents requires highly accurate object detection under diverse…
Evidence on AI in software engineering still leans heavily toward individual task completion, while evidence on team-level delivery remains scarce. We report a retrospective longitudinal field study of Chiron, an industrial platform that…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
One single error can result in a total compromise of all security in today's large, monolithic software. Partitioning of software can help simplify code-review and verification, whereas isolated execution of software-components limits the…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Modern robotic systems rely on hierarchical control, where a high-level "Brain" (Python) directs a lower-level "Spine" (C++ real-time controller). Despite its necessity, this hierarchy makes it difficult for the Brain to completely rewrite…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
Modern heterogeneous System-on-Chip (SoC) devices integrate advanced components into a single package, offering powerful capabilities while also introducing significant complexity. To manage these sophisticated devices, firmware and…
Next-generation lithium-ion batteries with silicon anodes have positive characteristics due to higher energy densities compared to state-of-the-art graphite anodes. However, the large volume expansion of silicon anodes can cause high…