相关论文: Digital and Robotic Twinning for Validation of Pro…
Digital twinning enables real-time simulation and predictive modeling by maintaining a continuously updated virtual representation of a physical system. In mission-critical applications, such as mid-air collision avoidance, these models…
As near-Earth resident space objects proliferate, there is an increasing demand for reliable technologies in applications of on-orbit servicing, debris removal, and orbit modification. Rendezvous and docking are critical mission phases for…
Verification and validation (V&V) of autonomous vehicles (AVs) typically requires exhaustive testing across a variety of operating environments and driving scenarios including rare, extreme, or hazardous situations that might be difficult…
As autonomous robots increasingly navigate complex and unpredictable environments, ensuring their reliable behavior under uncertainty becomes a critical challenge. This paper introduces a digital twin-based runtime verification for an…
In this paper, a digital twinning framework for indoor integrated sensing, communications, and robotics is proposed, designed, and implemented. Besides leveraging powerful robotics and ray-tracing technologies, the framework also enables…
This work presents the most recent advances of the Robotic Testbed for Rendezvous and Optical Navigation (TRON) at Stanford University - the first robotic testbed capable of validating machine learning algorithms for spaceborne optical…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…
The concept of creating a virtual copy of a complete Cyber-Physical System opens up numerous possibilities, including real-time assessments of the physical environment and continuous learning from the system to provide reliable and precise…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
Controlling the flight of flapping-wing drones requires versatile controllers that handle their time-varying, nonlinear, and underactuated dynamics from incomplete and noisy sensor data. Model-based methods struggle with accurate modeling,…
Simulation is a fundamental tool in developing autonomous vehicles, enabling rigorous testing without the logistical and safety challenges associated with real-world trials. As autonomous vehicle technologies evolve and public safety…
Digital twins promise to revolutionize engineering by offering new avenues for optimization, control, and predictive maintenance. We propose a novel framework for simultaneously training the digital twin of an engineering system and an…
A space-air-ground-sea integrated network (SAGSIN) has emerged as a cornerstone of 6G systems, establishing a unified global architecture by integrating multi-domain network resources. Motivated by the demand for real-time situational…
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…
Unmanned aerial vehicles (UAVs) enhance coverage and provide flexible deployment in 5G and next-generation wireless networks. The performance of such wireless networks can be improved by developing new navigation and wireless adaptation…
Digital twinning in structural engineering is a rapidly evolving technology that aims to eliminate the gap between physical systems and their digital models through real-time sensing, visualization, and control techniques. Although Digital…
Robotic systems that can traverse planetary or lunar surfaces to collect environmental data and perform physical manipulation tasks, such as assembling equipment or conducting mining operations, are envisioned to form the backbone of future…
This paper presents a physics-consistent digital twin framework for end-to-end modeling and evaluation of Global Navigation Satellite Systems (GNSS) user receiver equipment. In contrast to conventional GNSS simulations that rely on…