相关论文: Safety assurance of an industrial robotic control …

Printed Circuit Board (PCB) assurance in the optical domain is a crucial field of study. Though there are many existing PCB assurance methods using image processing, computer vision (CV), and machine learning (ML), the PCB field is complex…

Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…

Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-critical systems to ensure their safety and achieve tracking…

Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…

High-order control barrier functions (HOCBFs) can be used to provide autonomous systems with safety, though computational methods to verify and synthesize these functions remain lacking. In this work, we address this need by formulating SOS…

Present grid infrastructure is unprepared for the wide-scale integration of electric vehicles (EVs). Real-time grid simulation and hardware testing are necessary for the fast and accurate development of EV charging control strategies that…

The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test…

Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…

Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human…

Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup…

Safety verification in Computer Numerical Control (CNC) machining has traditionally relied on simulation-based methods that require repetitive tests when requirements change. This paper introduces a formal verification framework that…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

Modern SoC design relies on the ability to separately verify IP blocks relative to their own specifications. Formal verification (FV) using SystemVerilog Assertions (SVA) is an effective method to exhaustively verify blocks at unit-level.…

High Efficiency Video Coding (HEVC) has doubled the video compression ratio with equivalent subjective quality as compared to its predecessor H.264/AVC. The significant coding efficiency improvement is attributed to many new techniques.…

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…

In the context of Industry 4.0, effective monitoring of multiple targets and states during assembly processes is crucial, particularly when constrained to using only visual sensors. Traditional methods often rely on either multiple sensor…

This paper presents pragmatic solutions for verifying complex mathematical algorithms implemented in hardware in an efficient and effective manner. Maximizing leverage of a known-answer-test strategy, based on predefined data scenarios…

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…

Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…

This paper deals with a common verification methodology and environment for SystemC BCA and RTL models. The aim is to save effort by avoiding the same work done twice by different people and to reuse the same environment for the two design…