10 accepted papers
Zero-day vulnerabilities pose a significant challenge to robot cyber-physical systems (CPS). Attackers can exploit software vulnerabilities in widely-used robotics software, such as the Robot Operating System (ROS), to manipulate robot behavior, compromising both safety and operational effectiveness…
The ubiquitous deployment of robots across diverse domains, from industrial automation to personal care, underscores their critical role in modern society. However, this growing dependence has also revealed security vulnerabilities. An attack vector involves the deployment of malicious software (mal…
The beneficial aspects of fully-actuated multirotor UAVs, provided by nonparallel rotor configuration, are increasingly being recognized and utilized to great benefit in high-precision applications. Full six-degree-of-freedom force control, higher control bandwidth and improved disturbance rejection…
Telesurgery can be hindered by high-latency and low-bandwidth communication networks, often found in austere settings. Even delays of less than one second are known to negatively impact surgeries. To tackle the effects of connectivity associated with telerobotic surgeries, we propose the DESERTS fra…
This paper describes the optimization of a neuromorphic architecture for printable organic neurons as part of an ongoing project to develop Form + Function 4-D Printing. The previously proposed architecture prioritizes simplicity and massive redundancy for a printable analog neural network consistin…
The paper discusses how robots enable occupant-safe continuous protection for students when schools reopen. Conventionally, fixed air filters are not used as a key pandemic prevention method for public indoor spaces because they are unable to trap the airborne pathogens in time in the entire room. H…
Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge to robots as they lack the ability to combine these multimodal stimuli for performing contact-rich tasks. Learning-base…
Inspection for structural properties (surface stiffness and coefficient of restitution) is crucial for understanding and performing aerial manipulations in unknown environments, with little to no prior knowledge on their state. Inspection-on-the-fly is the uncanny ability of humans to infer states d…
Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surgeries, skill assessment, and training. Simulated surgical environments can enhance the data collection process by making…
We proposed ReFrESH in our previous publication. It is a self-adaptive infrastructure aimed at managing the performance of multi-robot systems through dynamically diagnosing and maintaining unexpected issues of modules. To integrate ReFrESH and robotic application-level software more conveniently, i…