相关论文: Prognostic Framework for Robotic Manipulators Oper…

The aim of Predictive Maintenance, within the field of Prognostics and Health Management (PHM), is to identify and anticipate potential issues in the equipment before these become critical. The main challenge to be addressed is to assess…

Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…

In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…

Predictive maintenance (PdM) is increasingly pursued to reduce wind farm operation and maintenance costs by accurately predicting the remaining useful life (RUL) and strategically scheduling maintenance. However, the remoteness of wind…

Accurately predicting the state-of-health (SOH) and remaining useful life (RUL) of lithium-ion batteries is crucial for ensuring the safe and efficient operation of electric vehicles while minimizing associated risks. However, current deep…

Capsule network (CapsNet) acts as a promising alternative to the typical convolutional neural network, which is the dominant network to develop the remaining useful life (RUL) estimation models for mechanical equipment. Although CapsNet…

While Deep Reinforcement Learning (DRL) provides transformational capabilities to the control of Robotics and Autonomous Systems (RAS), the black-box nature of DRL and uncertain deployment environments of RAS pose new challenges on its…

This paper presents the data-driven techniques and methodologies used to predict the remaining useful life (RUL) of a fleet of aircraft engines that can suffer failures of diverse nature. The solution presented is based on two Deep…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

Deep learning approaches have recently been extensively explored for the prognostics of industrial assets. However, they still suffer from a lack of interpretability, which hinders their adoption in safety-critical applications. To improve…

Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…

Assessing the degradation state of an industrial asset first requires evaluating its current condition and then to project the forecast model trajectory to a predefined prognostic threshold, thereby estimating its remaining useful life…

Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally…

Accurate prediction of remaining useful life under creep conditions is essential for the structural reliability of high-temperature components in critical engineering systems. Traditional approaches based on deterministic parametric models…

Precise robot manipulation is critical for fine-grained applications such as chemical and biological experiments, where even small errors (e.g., reagent spillage) can invalidate an entire task. Existing approaches often rely on…

Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…

Turbofan engine degradation under sustained operational stress necessitates robust prognostic systems capable of accurately estimating the Remaining Useful Life (RUL) of critical components. Existing deep learning approaches frequently fail…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…