相关论文: The ESRF TANGO control system status
The extended state observer (ESO) is an inherent element of robust observer-based control systems that allows estimating the impact of disturbance on system dynamics. Proper tuning of ESO parameters is necessary to ensure a good quality of…
This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi-Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy…
Even though modern service-oriented and data-oriented architectures promise to deliver loosely coupled control systems, they are inherently brittle as they commonly depend on a priori agreed interfaces and data models. At the same time, the…
Epsilon is an extensible platform of integrated and task-specific languages for model management. With solutions to the 2011 TTC Hello World case, this paper demonstrates some of the key features of the Epsilon Object Language (an extension…
A fundamental aspect for building intelligent autonomous robots that can assist humans in their daily lives is the construction of rich environmental representations. While advances in semantic scene representations have enriched robotic…
In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze the entire scene to predict grasps, leading to redundancy…
The move toward artificial intelligence (AI)-native sixth-generation (6G) networks has put more emphasis on the importance of explainability and trustworthiness in network management operations, especially for mission-critical use-cases.…
Software engineers frequently grapple with the challenge of accessing disparate documentation and telemetry data, including TroubleShooting Guides (TSGs), incident reports, code repositories, and various internal tools developed by multiple…
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the…
In this paper, we propose a framework called Contego-TEE to secure Internet-of-Things (IoT) edge devices with timing requirements from control spoofing attacks where an adversary sends malicious control signals to the actuators. We use a…
Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…
Software intensive systems play a crucial role in most, if not all, aspects of modern society. As such, both their sustainability and their role in supporting sustainable processes, must be realized by design. To this aim, the architecture…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
Experience using hardware knobs as an operator interface for controlling equipment has varied considerably at different facilities. Reactions have ranged from "indispensable" at some facilities, to "virtually useless" at others. In this…
This paper describes the design and implementation of a ground-related odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Partial observability and controllability are two well-known issues in test-case synthesis for interactive systems. We address the problem of partial control in the synthesis of test cases from timed-automata specifications. Building on the…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
In this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their…