相关论文: Evaluating Robot Program Performance with Power Co…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
As AI's energy demand continues to grow, it is critical to enhance the understanding of characteristics of this demand, to improve grid infrastructure planning and environmental assessment. By combining empirical measurements from…
A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Typical modeling analyses are completed a priori, and provide…
The use of wearable and mobile devices for health monitoring and activity recognition applications is increasing rapidly. These devices need to maximize their accuracy and active time under a tight energy budget imposed by battery and small…
The Industry 4.0 paradigm manifests the shift towards mass customization and cyber-physical production systems (CPPS) and sets new requirements for industrial automation software in terms of modularity, flexibility, and short development…
Although machine learning (ML) and artificial intelligence (AI) present fascinating opportunities for innovation, their rapid development is also significantly impacting our environment. In response to growing resource-awareness in the…
Soft robotics technology can aid in achieving United Nations Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Embedded systems have proliferated in various consumer and industrial applications with the evolution of Cyber-Physical Systems and the Internet of Things. These systems are subjected to stringent constraints so that embedded software must…
Model predictive control (MPC) is increasingly being considered for control of fast systems and embedded applications. However, the MPC has some significant challenges for such systems. Its high computational complexity results in high…
Context: Performance regressions negatively impact execution time and memory usage of software systems. Nevertheless, there is a lack of systematic methods to evaluate the effectiveness of performance test suites. Performance mutation…
With high-performance computing systems now running at exascale, optimizing power-scaling management and resource utilization has become more critical than ever. This paper explores runtime power-capping optimizations that leverage…
Learning-based techniques, especially advanced pre-trained models for code have demonstrated capabilities in code understanding and generation, solving diverse software engineering (SE) tasks. Despite the promising results, current training…
We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
In the context of embodied artificial intelligence, morphological computation refers to processes which are conducted by the body (and environment) that otherwise would have to be performed by the brain. Exploiting environmental and…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
Energy efficiency has emerged as a vital attribute of software quality, with significant implications for both environmental sustainability and operational costs. However, existing profiling tools operate only at runtime and coarse…
Optimizing scientific software is a difficult task because codebases are often large and complex, and performance can depend upon several factors including the algorithm, its implementation, and hardware among others. Causes of poor…