相关论文: SmartCrawler: An In-pipe Robotic System with Wirel…

In Wireless Networked Control Systems (WNCSs), the feedback control loops are closed over a wireless communication network. The proliferation of WNCSs requires efficient network resource management mechanisms since the control performance…

Metallic pipes and other containers are widely used to store and transport toxic gases and liquids. Various sensors have been designed to monitor the environment inside metallic pipes and containers, such as pressure, liquid-level, and…

In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…

Water distribution networks (WDNs) expand their service areas over time. These growth dynamics are poorly understood. One facet of WDNs is that they have loops in general, and closing loops may be a functionally important process for…

This paper considers a wireless networked control system (WNCS) consisting of a dynamic system to be controlled (i.e., a plant), a sensor, an actuator and a remote controller for mission-critical Industrial Internet of Things (IIoT)…

Wireless networked control systems (WNCS) are composed of spatially distributed sensors, actuators, and con- trollers communicating through wireless networks instead of conventional point-to-point wired connections. Due to their main…

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…

Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…

Wireless Sensor Networks (WSNs) experiences several technical challenges such as limited energy, short transmission range, limited storage capacities, and limited computational capabilities. Moreover, the sensor nodes are deployed randomly…

This paper proposes a variable flow control system in real time with deep learning using the segmentation of fruit trees in a pear orchard. The flow rate control in real time, undesired pressure fluctuation and theoretical modeling may…

When dealing with node or link failures in Software Defined Networking (SDN), the network capability to establish an alternative path depends on controller reachability and on the round trip times (RTTs) between controller and involved…

An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…

Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…

Underground power distribution systems (PDSs) are increasingly deployed in urban areas. The integration of smart devices including smart switchgears, pad-mounted distribution transformers and inverter-based resources (IBRs) enhance system…

Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…

Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…

This thesis focuses on link scheduling in wireless mesh networks by taking into account physical layer characteristics. The assumption made throughout is that a packet is received successfully only if the Signal to Interference and Noise…

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…

Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…

This paper introduces a method for designing spatially intelligent robot swarm behaviors to localize concealed radio emitters. We use differential evolution to generate geometric patrol routes that localize unknown signals independently of…