Related papers: The ESRF TANGO control system status
The servo control algorithms of the TNG, developed in the nineties, have been working for more than 20 years with no major updates. The original hardware was based on a VME-bus based platform running a real time operating system, a rather…
We present TACO, a toolsuite for the development and automatic verification of fault-tolerant and threshold-based distributed algorithms. Our toolsuite implements three approaches for model checking threshold automata in different decidable…
he ESRF control system is in the process of being modernised. The present contrsystem is based on VME, 10 MHz Ethernet, OS9, Solaris, HP-UX, NFS/RPC, Motif and C. The new control system will be based on compact PCI, 100 MHz Ethernet, Linux,…
Robots assisting us in factories or homes must learn to make use of objects as tools to perform tasks, e.g., a tray for carrying objects. We consider the problem of learning commonsense knowledge of when a tool may be useful and how its use…
The technical specification ISO/TS 15066 provides the foundational elements for assessing the safety of collaborative human-robot cells, which are the cornerstone of the modern industrial paradigm. The standard implementation of the ISO/TS…
At the new neutron source FRM--II in Garching, Germany, the TACO control system, originally developed at the ESRF in Grenoble, France is used for instrument control purposes. TACO provides an object oriented, distributed control system…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…
A system based on ROOT for handling the micro-DST of the BaBar experiment is described. The purpose of the Kanga system is to have micro-DST data available in a format well suited for data distribution within a world-wide collaboration with…
The control system and the entire architecture of the High Resolution Spectrograph (SARG) for the Italian National Telescope "Galileo" (TNG) are here described. The concept of SARG instrument controls is similar to that of the other TNG…
Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone towards tool manipulation. Analogous to the activation of two…
We present DINGO (Data INtegration for Grants Ontology), an ontology that provides a machine readable extensible framework to model data for semantically-enabled applications relative to projects, funding, actors, and, notably, funding…
Recent advances in predicting 6D grasp poses from a single depth image have led to promising performance in robotic grasping. However, previous grasping models face challenges in cluttered environments where nearby objects impact the target…
Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic…
Although acrobatic flight control has been studied extensively, one key limitation of the existing methods is that they are usually restricted to specific maneuver tasks and cannot change flight pattern parameters online. In this work, we…
A fast, efficient and comprehensive monitoring system is a vital part of any HEP experiment. This paper describes the software framework that will be used during ATLAS data taking to monitor the state of the data acquisition and the quality…
Automated and computerised control of scientific instrumentation is almost ubiquitous in the modern laboratory. Most instrumentation is controlled over decades old communication busses or is accessed via proprietary system libraries. This…
Typically, even low-level operating system concepts, such as resource sharing strategies and predictability measures, are evaluated with Linux on PC hardware. This leaves a large gap to real industrial applications. Hence, the direct…
Experimental Physics and Industrial Control System (EPICS) is a software tool that during last years has become relevant as a main framework to deploy distributed control systems in large scientific environments. At the moment, ESS Bilbao…
Reo is a formal coordination language. In order to assess and evaluate its capabilities, we need a multi-perspective Language Evaluation Framework. Langar (Language Analysis for Reo) is a framework aimed to provide such an evaluation…