相关论文: RoboTwin: A Robotic Teleoperation Framework Using …
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
A digital twin (DT), with the components of a physics-based model, a data-driven model, and a machine learning (ML) enabled efficient surrogate, behaves as a virtual twin of the real-world physical process. In terms of Laser Powder Bed…
Real-time human-device interaction in industrial Metaverse faces challenges such as high computational load, limited bandwidth, and strict latency. This paper proposes a task-oriented edge-assisted cross-system framework using digital twins…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of…
Digital Twin (DT) technologies promise to remove cyber-physical barriers in systems and services and provide seamless management of distributed resources effectively. Ideally, full-fledged instantiations of DT offer bi-directional features…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
Digital Twin technology is being envisioned to be an integral part of the industrial evolution in modern generation. With the rapid advancement in the Internet-of-Things (IoT) technology and increasing trend of automation, integration…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
Digital Twin (DT) technology holds immense potential for surgical planning and personalized medicine. However, generating interactive, patient-specific anatomical twins currently relies on computationally heavy Server-Side Rendering (SSR)…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
Training effective artificial intelligence models for telecommunications is challenging due to the scarcity of deployment-specific data. Real data collection is expensive, and available datasets often fail to capture the unique operational…
Joint base station (BS) association and beam selection in multi-UAV aerial corridors constitutes a challenging radio resource management (RRM) problem. It is driven by high-dimensional action spaces, need for substantial overhead to acquire…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Digital twin technology has is anticipated to transform healthcare, enabling personalized medicines and support, earlier diagnoses, simulated treatment outcomes, and optimized surgical plans. Digital twins are readily gaining traction in…
In this paper, we investigate a novel digital network twin (DNT) assisted deep learning (DL) model training framework. In particular, we consider a physical network where a base station (BS) uses several antennas to serve multiple mobile…
Robotic systems have become integral to smart environments, enabling applications ranging from urban surveillance and automated agriculture to industrial automation. However, their effective operation in dynamic settings - such as smart…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…