相关论文: A Failure Identification and Recovery Framework fo…

Autonomously detecting and recovering from faults is one approach for reducing the operational complexity and costs associated with managing computing environments. We present a novel methodology for autonomously generating investigation…

Efficient nonlinearity compensation in fiber-optic communication systems is considered a key element to go beyond the "capacity crunch''. One guiding principle for previous work on the design of practical nonlinearity compensation schemes…

Collaborative inference has received significant research interest in machine learning as a vehicle for distributing computation load, reducing latency, as well as addressing privacy preservation in communications. Recent collaborative…

Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…

As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…

Bearing faults in rotating machinery can lead to significant operational disruptions and maintenance costs. Modern methods for bearing fault diagnosis rely heavily on vibration analysis and machine learning techniques, which often require…

The high probability of hardware failures prevents many advanced robots (e.g., legged robots) from being confidently deployed in real-world situations (e.g., post-disaster rescue). Instead of attempting to diagnose the failures, robots…

Multimodal models trained on complete modality data often exhibit a substantial decrease in performance when faced with imperfect data containing corruptions or missing modalities. To address this robustness challenge, prior methods have…

The idle computers on a local area, campus area, or even wide area network represent a significant computational resource---one that is, however, also unreliable, heterogeneous, and opportunistic. This type of resource has been used…

Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of faults in perception systems is important. Faults in…

All-in-one image restoration aims to handle diverse degradations within a single model. However, existing methods often suffer from three key limitations: 1) per-input computational overhead from dynamic degradation estimation; 2)…

Most recent network failure diagnosis systems focused on data center networks where complex measurement systems can be deployed to derive routing information and ensure network coverage in order to achieve accurate and fast fault…

Network coding-based link failure recovery techniques provide near-hitless recovery and offer high capacity efficiency. Diversity coding is the first technique to incorporate coding in this field and is easy to implement over small…

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…

Teleoperated robotic manipulators enable the collection of demonstration data, which can be used to train control policies through imitation learning. However, such methods can require significant amounts of training data to develop robust…

Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…

Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because…

Cyber-physical systems (CPS) play a pivotal role in numerous critical real-world applications that have stringent requirements for safety. To enhance the CPS resiliency against attacks, redundancy can be integrated in real-time controller…

This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…

With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven methods require training the controller for each morphology to…