相关论文: Open-Source Software Architecture for Multi-Robot …
The complexity of IoT, owing to the inherent distributed and dynamic nature of such systems, brings more challenges to the software development process. A vast number of devices with different communication protocols and data formats is…
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…
Computer-aided design (CAD) tools are utilized in the manufacturing industry for modeling everything from cups to spacecraft. These programs are complex to use and typically require years of training and experience to master. Structured and…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
This paper deals with the mediator-wrapper architecture. It is an important architectural pattern that enables a more flexible and modular architecture in opposition to monolithic architectures for data source integration systems. This…
The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics…
Debugging and monitoring programs are integral to engineering and deploying software. Dynamic analyses monitor applications through source code or IR injection, machine code or bytecode rewriting, and virtual machine or direct hardware…
Embedded real-time applications in communication systems require high processing power. Manual scheduling devel-oped for single-processor applications is not suited to multi-core architectures. The Algorithm Architecture Matching (AAM)…
This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…
Tomographic Volumetric Additive Manufacturing (TVAM) is a light-based 3D printing technique capable of producing centimeter-scale objects within seconds. A key challenge lies in the calculation of projection patterns under non-standard…
Laser beam welding is a non-contact joining technique that has gained significant importance in the course of the increasing degree of automation in industrial manufacturing. This process has established itself as a suitable joining tool…
We present a comprehensive characterization study of open-source message-oriented middleware (MOM) systems. We followed a rigorous methodology to select and study ten popular and diverse MOM systems. For each system, we examine 42 features…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
This paper introduces a ROS Multi Ontology References (ARMOR) service, a general-purpose and scalable interface between robot architectures and OWL reasoners. ARMOR addresses synchronisation and communication issues among heterogeneous and…
Development and testing of multi-robot systems employing wireless signal-based sensing requires access to suitable hardware, such as channel monitoring WiFi transceivers, which can pose significant limitations. The WiFi Sensor for Robotics…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
The concept of a fiber aided wireless network architecture (FAWNA) is introduced in [Ray et al., Allerton Conference 2005], which allows high-speed mobile connectivity by leveraging the speed of optical networks. In this paper, we consider…