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Human–robot collaboration (HRC) in manufacturing environments requires that physical safety can be guaranteed. Control methods that implicitly regulate the interaction forces between a controlled robot and its environment, such as impedance control, are often used for safety in HRC. However, these methods could be complemented by restricting the robot operational space for additional safety guaran

In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergence considering the dynamics of the robot were derived. Finally, an experimental evaluation was perfo

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures the uncertainty of surrounding vehicles by online estimation of their acceleration bounds, enabling a reactive but rapid understanding of the uncertainty chara

Planning and navigation in real-time traffic is challenging, since the driving environment (e.g., road network and infrastructure) is complex and the accurate prediction of surrounding vehicles is hard. To address this, this paper proposes an environment and uncertainty-aware robust motion-planning strategy. The method achieves environment awareness by considering road-geometry constraints in the

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this article, an efficie

Industry 4.0, with its focus on flexibility and customizability, is pushing in the direction of wireless communication in future smart factories, in particular massive multiple-input multiple-output (MIMO), and its future evolution Large Intelligent Surfaces (LIS), which provide more reliable channel quality than previous technologies. As such, there arises the need to perform efficient scheduling

This paper presents a novel domain adaptation framework to enhance the accuracy of EEG-based auditory attention classification, specifically for classifying the direction (left or right) of attended speech. The framework aims to improve the performances for subjects with initially low classification accuracy, overcoming challenges posed by instrumental and human factors. Limited dataset size, vari

In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human–Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an energy storage formulation compatible with strict passivity to provide global asymptotic stability

Distributed massive multiple-input multiple-output (D-MIMO) has been identified as a promising technology to meet the service requirements of 6 G wireless networks and beyond. The coordination between a massive number of distributed antennas introduces stiff challenges and requires a substantial amount of computing resources that must be put together with careful algorithm-architecture codesign. T

The PID controller is the by far most frequently employed type of controller. As you read, billions of digitally implemented PID controllers are running, shaping the dynamic behavior of anything from the fan speed in your laptop to safety-critical components in nuclear power plants. Given the abundance of commissioned PID controllers, it is surprisingly hard to find a single source that provides a

Gaze-control and gaze-assistance in software development tools have so far been explored in the setting of code editing, but other developer activities like code review could also benefit from this kind of tool support.In this paper, we present GANDER, a platform for user studies on gaze-assisted code review. As a proof of concept, we extend the platform with an assistant that highlights name rela

It is common that PID control loops function satisfactorily most of the time, but that they have issues with violating input, state, or output constraints. While MPC solves this problem in principle, it is in practice not straightforward to replace a functioning PID controller with an MPC implementation. This is particularly true for loops that are critical to plant operation, where stops associat

This paper introduces an improved method for real-time brain computer interface control. We demonstrate how Bayesian optimization and feedback can be used to achieve faster statistical convergence by controlling the sequence of stimuli shown in a brain computer interface based on a visual oddball paradigm.

Decentralized Cloud Storage (DCS) is considered to be the future for sustainable data storage within Web 3.0, in which we will move from a single cloud service provider to creating an ecosystem where anybody could be a cloud storage provider. Currently, the cloud storage market is highly dominated by centralized players like Amazon S3, Google Cloud, Box, etc. Decentralized projects like Storj, Fil

With increased autonomy in marine vessels, autonomous surface vessels (ASVs) and conventionally manned vessels need to coexist at sea. Any relocation needs to include collision avoidance according to the traffic rules at sea, COLREGs. Here, a local collision-avoidance planner for an archipelago environment is presented. The optimization-based local planner presented considers a predefined nominal

Insects rely on path integration (vector-based navigation) and landmark guidance to perform sophisticated navigational feats, rivaling those seen in mammals. Bees in particular exhibit complex navigation behaviors including creating optimal routes and novel shortcuts between locations, an ability historically indicative of the presence of a cognitive map. A mammalian cognitive map has been widely

Anxiety before an MRI examination is common, even though the technique is noninvasive and painless. In a 7T MRI study, healthy volunteers also reported anxiety before the examination. This study aimed to assess anxiety levels in healthy individuals undergoing 7T MRI and to determine if their anxiety decreased during subsequent examinations. Participants filled out a questionnaire on anxiety. Eleve

Breast cancer has a profound affect on society. The survival for women in low- and middle-income countries (LMICs) is poor compared to in high-income countries (HICs). The lack of timely diagnosis is one of the main factors contributing to the poor outcomes for women in LMICs. Point-of-care ultrasound (POCUS) combined with a deep learning (DL) classification network could potentially be a suitable

This paper addresses the time-optimal path-tracking problem for redundant manipulators. By integrating path-velocity control into existing task-space robot controllers, the task-space motion can be dynamically scaled to satisfy the torque constraint under both kinematic and dynamic uncertainties. Numerical simulations and experiments demonstrate that trajectory feasibility and path-tracking accura