8 accepted papers
Rectangular nozzles are attractive for large-format additive manufacturing (LFAM) due to their improved deposition efficiency. However, single-inlet feeding of high-aspect-ratio nozzles inherently induces lateral pressure gradients, causing center-heavy flow and eliminating localized control during …
Robotic harvesting of date fruits requires precise grasping force control to prevent tissue damage, yet cultivar-specific biomechanical limits remain absent from the literature. This work presents the first continuous stress-strain characterization of three Saudi date cultivars across three hydratio…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on overwhelming inductive biases. Traditional robotic designs, while well-suited for their specific use cases, are oft
To create a self-repairing 3D printer, it must continue operating even after experiencing corruption. This work focuses on developing a method to effectively utilize a malfunctioning printer for reliable printing. This method can be applied by the printer itself for self-repair and enhance the relia…
This paper presents a new design of aerial vehicles with tetrahedral geometry. We call this design the TetraQuad. The TetraQuad is a fractal modular aerial robot. A characteristic of fractals is that they have a geometric shape that can be assembled to generate the same geometry on a larger scale. T…
We analyze and model a belt transmission system with non-circular timing pulleys. Using a 3D printer as a proof-of-concept device, experiments consisting of tracking the pose data of a printer nozzle and its pulleys are conducted. A computational model from our previous work is validated with the ex…
This paper describes the Robotarium - a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet they are expensive, complex, and time-consuming to develop, oper…
We consider an autonomous vehicle navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. Optimal strategies are computed as random path distributions, a realization of which is the path chosen by the traveler. Theoretical optimal polici