相关论文: The ESRF TANGO control system status

The Gravitational-wave Optical Transient Observer (GOTO) is a wide-field telescope project focused on detecting optical counterparts to gravitational-wave sources. The GOTO Telescope Control System (G-TeCS) is a custom robotic control…

Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…

The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibres to target positions on…

TECHDOC is an implemented system demonstrating the feasibility of generating multilingual technical documents on the basis of a language-independent knowledge base. Its application domain is user and maintenance instructions, which are…

Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping…

The AEgIS experiment at CERN recently decided to adopt a control system solution based on the Sinara/ARTIQ open hardware and software infrastructure. This decision meant to depart from the previously used paradigm of custom-made electronics…

We introduce TACO, an open-source, large-scale code generation dataset, with a focus on the optics of algorithms, designed to provide a more challenging training dataset and evaluation benchmark in the field of code generation models. TACO…

Development of software is an iterative process. Graphical tools to represent the relevant entities and processes can be helpful. In particular, automata capture well the intended execution flow of applications, and are thus behind many…

This document describes the communication language used in one multiagent system environment for ecological simulations, based on EcoDynamo simulator application linked with several intelligent agents and visualisation applications, and…

We present a case study of how a software framework (Chombo) supported the specific needs of a scientific application (COGENT). Since its inception in 2000, the Chombo framework has supported various applications. One example of such…

Despite many advances in service robotics, successful and secure object manipulation on mobile platforms is still a challenge. In order to come closer to human grasping performance, it is natural to provide robots with the same capability…

This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that…

In this paper we describe the design and implementation of TARANG, a pseudospectral code to simulate turbulent flows in fluids, magnetohydrodynamics (MHD), convection, passive scalar, etc. We use the object-oriented features of C++ to…

This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…

We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into…

Software safety is a crucial aspect during the development of modern safety-critical systems. Software is becoming responsible for most of the critical functions of systems. Therefore, the software components in the systems need to be…

Control code is a concept that is closely related to a frequently occurring practitioner's view on what is a program: code that is capable of controlling the behaviour of some machine. We present a logical approach to explain issues…

The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…

Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…

We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a…