相关论文: Prognostic Framework for Robotic Manipulators Oper…

This study uses a Long Short-Term Memory (LSTM) network to predict the remaining useful life (RUL) of jet engines from time-series data, crucial for aircraft maintenance and safety. The LSTM model's performance is compared with a Multilayer…

A major challenge of reinforcement learning (RL) in real-world applications is the variation between environments, tasks or clients. Meta-RL (MRL) addresses this issue by learning a meta-policy that adapts to new tasks. Standard MRL methods…

This thesis explored applications of the new emerging techniques of artificial intelligence and deep learning (neural networks in particular) for predictive maintenance, diagnostics and prognostics. Many neural architectures such as…

Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

Accurate Remaining Useful Life (RUL) prediction is a key requirement for effective Prognostics and Health Management (PHM) in safety-critical systems such as aero-engines. Existing deep learning approaches, particularly LSTM-based models,…

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).…

Automated industries lead to high quality production, lower manufacturing cost and better utilization of human resources. Robotic manipulator arms have major role in the automation process. However, for complex manipulation tasks, hard…

Prognostics or Remaining Useful Life (RUL) Estimation from multi-sensor time series data is useful to enable condition-based maintenance and ensure high operational availability of equipment. We propose a novel deep learning based approach…

Accurate estimation of remaining useful life (RUL) of industrial equipment can enable advanced maintenance schedules, increase equipment availability and reduce operational costs. However, existing deep learning methods for RUL prediction…

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…

Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…

In-Hand Manipulation, as many other dexterous tasks, remains a difficult challenge in robotics by combining complex dynamic systems with the capability to control and manoeuvre various objects using its actuators. This work presents the…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…

Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…

In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…

Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…

Reinforcement learning (RL) has become a foundational approach for enabling intelligent robotic behavior in dynamic and uncertain environments. This work presents an in-depth review of RL principles, advanced deep reinforcement learning…

In modern industrial production, the prediction ability of the remaining useful life (RUL) of bearings directly affects the safety and stability of the system. Traditional methods require rigorous physical modeling and perform poorly for…