相关论文: Safety assurance of an industrial robotic control …
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
In recent years, there has been a notable surge in attention towards hardware security, driven by the increasing complexity and integration of processors, SoCs, and third-party IPs aimed at delivering advanced solutions. However, this…
This paper presents a study on transforming a traditional human-operated vehicle into a fully autonomous device. By leveraging previous research and state-of-the-art technologies, the study addresses autonomy, safety, and operational…
Modern-day autonomous vehicles are increasingly becoming complex multidisciplinary systems composed of mechanical, electrical, electronic, computing and information sub-systems. Furthermore, the individual constituent technologies employed…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…
Human-multi-robot shared control leverages human decision-making and robotic autonomy to enhance human-robot collaboration. While widely studied, existing systems often adopt a leader-follower model, limiting robot autonomy to some extent.…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
This study proposes a hybrid safety verification framework for closed-loop multi-agent systems under bounded stochastic disturbances. The proposed approach augments control barrier functions with a novel $\psi$-weighted formulation that…
Robots are typically not created with security as a main concern. Contrasting to typical IT systems, cyberphysical systems rely on security to handle safety aspects. In light of the former, classic scoring methods such as the Common…
During the development and verification of complex airborne systems, a variety of languages and development environments are used for different levels of the system hierarchy. As a result, there may be manual steps to translate requirements…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in…
The emergent behaviour of autonomous robotic swarms poses a significant challenge to their safety assurance. Assurance tasks encompass adherence to standards, certification processes, and the execution of verification and validation (V&V)…
In this paper, we present a framework that uses acoustic side-channel analysis (ASCA) to monitor and verify whether a robot correctly executes its intended commands. We develop and evaluate a machine-learning-based workflow verification…
The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved…
Benchmarking, standards and certification are closely related processes. Standards can provide normative requirements that robotics and AI systems may or may not conform to. Certification generally relies upon conformance with one or more…
Industrial standards define safety requirements for Human-Robot Collaboration (HRC) in industrial manufacturing. The standards particularly require real-time monitoring and securing of the minimum protective distance between a robot and an…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…