相关论文: Adaptive Feedforward Reference Design for Active V…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
A multiconfigurational adiabatic connection (AC) formalism is an attractive approach to computing dynamic correlation within CASSCF and DMRG models. Practical realizations of AC have been based on two approximations: i) fixing one- and…
Existing paradigms for ensuring AI safety, such as guardrail models and alignment training, often compromise either inference efficiency or development flexibility. We introduce Disentangled Safety Adapters (DSA), a novel framework…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
The rapid development of IoT technology has led to a shortage of spectrum resources and energy, giving rise to simultaneous wireless information and power transfer (SWIPT) technology. However, traditional multiple input multiple output…
In this paper we present Hyper-Dimensional Reconfigurable Analytics at the Tactical Edge (HyDRATE) using low-SWaP embedded hardware that can perform real-time reconfiguration at the edge leveraging non-MAC (free of floating-point…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
With the increasing number of compute components, failures in future exa-scale computer systems are expected to become more frequent. This motivates the study of novel resilience techniques. Here, we extend a recently proposed…
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…
Conventional analog-to-digital converters (ADCs) fail to capture high-dynamic-range (HDR) signals due to clipping. Modulo ADCs circumvent this limitation by folding the input prior to quantization and algorithmically reconstructing the…
The Fermilab Acceleraor Division, Beam Instrumentation Department, is always adopting modern and current software methodologies for complex DAQ architectures. This paper highlights the Redis Adapter (RA) as the key software component…
When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…
This article studies the problems of distributed dynamic platoons control and smart junction crossing optimization for a mixed traffic flow with connected automated vehicles(CAVs) and social human-driven vehicles(HDVs) in a smart city. The…
Adaptive Boosting (AdaBoost) faces significant challenges posed by label noise, especially in multiclass classification tasks. Existing methods either lack mechanisms to handle label noise effectively or suffer from high computational costs…
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…
HTAP systems are designed to handle transactional and analytical workloads. Besides a mixed workload at any given time, the workload can also change over time. A popular type of continuously changing workload is one that oscillates between…
With advancements in multicore embedded systems, leakage power, exponentially tied to chip temperature, has surpassed dynamic power consumption. Energy-aware solutions use dynamic voltage and frequency scaling (DVFS) to mitigate overheating…