Cong Wang

Cong Wang
New Jersey Institute of Technology | NJIT · Department of Electrical and Computer Engineering

B.Eng., M.Eng., and Ph.D.

About

46
Publications
30,114
Reads
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435
Citations
Additional affiliations
January 2015 - August 2015
University of California, Berkeley
Position
  • Lecturer and Researcher

Publications

Publications (46)
Article
Full-text available
Hole drilling and bolt screwing are frequently performed tasks in construction, decoration, and maintenance. Traditionally, sending human workers to perform these tasks in hard-to-reach locations is both dangerous and costly. In this paper, we present an aerial manipulation platform that allows a human user to remotely conduct omnidirectional drill...
Article
In this paper, the problem of robotic Sit-To-Stand (STS) assistance is studied. The objective is to effectively assist individuals in need to stand up from a seated position using a robot manipulator. To achieve the goal, we propose an integrated method which encompasses traditional model-based control and optimization, as well as AI-based human in...
Article
Full-text available
Intelligent physical skills are a fundamental element needed by robots to interact with the real world. Instead of learning from individual sources in single cases, continuous robot learning from crowdsourced mentors over long terms provides a practical path towards realizing ubiquitous robot physical intelligence. The mentors can be human drivers...
Conference Paper
This paper presents a systematic design of high-fidelity tele-operated scaled vehicles to be used as a research and development platform for intelligent transportation technologies. Compared to computer simulation and full-scale physical tests, the use of high-fidelity scaled setups provides advantages on testing time and financial effectiveness. T...
Article
Full-text available
This work discusses a crowdsourced learning scheme for robot physical intelligence. Using a large amount of data from crowdsourced mentors, the scheme allows robots to synthesize new physical skills that are never demonstrated or only partially demonstrated without heavy re-training. The learning scheme features a data management method to sustaina...
Conference Paper
Full-text available
This paper proposes an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. We consider a novel vector thrust UAV wi...
Article
Full-text available
Recently, significant attention has been paid to the controllability problem of networked systems. In many real-world multi-agent systems, agents are spatially located in arbitrary positions and can only communicate with nearby agents. A natural problem of designing such a system is how to determine the necessary communication radius that ensures a...
Article
Iterative learning control (ILC) is an effective technique that improves the tracking performance of systems by adjusting the feedforward control signal based on the memory data. The key in ILC is to design learning filters with guaranteed convergence and robustness, which usually involves lots of tuning effort especially in high-order ILC. To faci...
Conference Paper
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile, technologies such as robot learning from demonstration have enabled humans to intuitively train robots. This paper...
Article
Full-text available
Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD...
Article
Full-text available
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile, technologies such as robot learning from demonstration have enabled humans to intuitively train robots. This paper...
Article
Vibration suppression is of fundamental importance to the performance of industrial robot manipulators. Cost constraints, however, limit the design options of servo and sensing systems. The resulting low drive-train stiffness and lack of direct load-side measurement make it difficult to reduce the vibration of the robot’s end-effector and hinder th...
Conference Paper
To develop the next generation of high-performance robots capable of working in human environments, it is required that the joint actuators have variable stiffness to achieve both precision motion control and ability of reaction under unexpectedly huge impact caused by collision with obstacles or human. Variable stiffness actuators (VSA) partially...
Conference Paper
Iterative learning control (ILC) is an effective technique to improve the tracking performance of systems through adjusting the feedforward control signal based on the memory data. It is critically important to design the learning filters in the ILC algorithm that assures the robust stability of the convergence of tracking errors from one iteration...
Conference Paper
Full-text available
Micro robots have been recognized as a promising solution for exploring complex and dangerous environments during rescue and reconnaissance missions. The idea of micro centipede robots is drawing increasing attention because of their great potentials to get through rubble and reaching buried areas. This paper explores the possibility of using micro...
Conference Paper
Full-text available
This paper discusses the compensation of tool paths for machining flexible parts. Despite various research published on the topic, machining in practice nowadays remains limited to tool path planning based on only the geometric models of the parts and tools. This is mainly because that tool path compensation methods usually require accurate physica...
Article
Full-text available
Trajectory planning is a fundamental problem for industrial robots. It is particularly challenging for robot manipulators that transfer silicon wafers in an equipment front end module (EFEM) of a semiconductor manufacturing machine where the work space is extremely limited. Existing methods cannot give satisfactory performance since they usually so...
Conference Paper
Full-text available
This paper reviews the possibility of using single-motor drives to build lightweight robotic systems such as walking assistive exoskeletons, aerial robot manipulators, and collaborative robotic manufacturing systems. A single-motor drive realizes multi-axis motion actuation with one central motor, a mechanical power distribution system, and clutche...
Article
Full-text available
Restraint system parameter configurations encouraged by the current legislative or consumer crash tests cannot provide tailored protection to occupants with different statures under various crash severities. The restraint system parameters should be adapted to different circumstances. In this study, a restraint system optimization framework was bui...
Conference Paper
Full-text available
Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dynamic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. In order to ev...
Conference Paper
Full-text available
Industrial servo systems usually have high gear ratio reduc-ers, which introduce flexibility and transmission errors. The con-sequential vibrations and compliance bring difficulties to many demanding applications. For applications in which the servos move repetitively, iterative learning control (ILC) is a powerful tool to improve performance. An i...
Conference Paper
Full-text available
Currently, the semiconductor manufacturing industries over the world are upgrading from processing 300mm wafers to processing 450mm wafers. In order to satisfy the requirements of producing and processing 450mm wafers, vibration control of wafer handling tools has to make new breakthroughs. This paper introduces an active wide-band vibration reject...
Conference Paper
Full-text available
Frog-leg robots have been widely used for handling silicon wafers inside the vacuum environment of semiconductor manufacturing machines. In order to enhance stiffness, frog-leg robots adopt a parallel structure. A main challenge of controlling wafer handling robot is avoiding vibration, which is the major cause of wafer sliding and particle contami...
Article
The semiconductor manufacturing industry is having a critical upgrade. To meet the new standards of silicon wafer production and processing, vibration control of wafer handling robots must break new grounds because conventional methods have reached their limits. This paper presents a direct vibration cancellation method for semiconductor manufactur...
Conference Paper
Full-text available
The second Stanford-Berkeley Robotics Symposium brings together roboticists from Stanford, Berkeley, and the Bay Area robotics industry. The program features: > Presentations from Stanford and Berkeley faculty > Talks from bay area industry representatives > Keynote talks > Student posters
Conference Paper
Full-text available
This paper discusses the problem of planning well conditioned trajectories for learning a class of nonlinear models such as the imaging model of a camera and the multibody dynamic model of a robot. In such model learning problems, the model parameters can be linearly decoupled from system variables in the feature space. The learning accuracy and ro...
Article
Full-text available
Vision guided robots have become an important element in the manufacturing industry. In most current industrial applications, vision guided robots are controlled by a look-then-move method. This method cannot support many new emerging demands which require real-time vision guidance. Challenge comes from the speed of visual feedback. Due to cost lim...
Conference Paper
Full-text available
This paper deals with the problem of pose esti-mation (i.e., estimating position and orientation of an moving target) for real-time visual servoing, where the vision hardware is assumed to have severely limited measurement capability. In other words, we aim to compensate the slow sensor dynamics in industrial machine vision systems. The common appr...
Conference Paper
Full-text available
This paper discusses the control strategies for robot manipulators to track moving targets based on real-time vision guidance. The work is motivated by some new demands of vision guided robot manipulators in which the workpieces being manipulated are in complex motion and the widely adopted look-then-move control strategy cannot give satisfactory p...
Conference Paper
Full-text available
This paper presents the dynamics modeling and dynamic identification of a dual-blade wafer handling robot. An explicit form dynamic model for this 8-link parallel robot is proposed. The dynamic model is transformed into a decoupled form to enable dynamic parameters identification with least-square regression. A well conditioned trajectory is chosen...
Conference Paper
Full-text available
This paper presents an approach for fast modeling and iden-tification of robot dynamics. By using a data-driven machine learning approach, the process is simplified considerably from the conventional analytical method. Regressor selection using the Lasso (l 1 -norm penalized least squares regression) is used. The method is explained with a simple e...
Conference Paper
Full-text available
This paper presents a control scheme of visual servoing. Real-time vision guidance is necessary in many desirable ap-plications of industrial manipulators. Challenge comes from the limitations of visual sensing and robot dynamics. Typical indus-trial machine vision systems have low sampling rate and large latency. In addition, due to the large iner...
Conference Paper
Full-text available
The first Stanford-Berkeley Robotics Symposium brings together roboticists from Stanford, Berkeley, and the Bay Area robotics industry.
Conference Paper
Full-text available
Advances in vision-based technologies allow robots to perform sophisticated and intelligent tasks. Even with these advances, there still remain inherent problems with using vision-based technologies. Slow sampling rate and large latency is a problem associated with most vision hardware used in industry. We refer to these characteristics as the sens...
Conference Paper
For many desirable applications of vision guided industrial robots, real-time visual servoing is necessary but also challenging. Difficulty comes from the limited sampling rate and response time of typical machine vision systems equipped on industrial robots. These factors are addressed as the dynamics of visual sensing. In addition, robot dynamics...
Conference Paper
Full-text available
For the motion control of industrial robots, the end-effector performance is of the ultimate interest. However, industrial robots are generally only equipped with motor-side encoders. Accurate estimation of the end-effector position and velocity is thus difficult due to complex joint dynamics. To overcome this problem, this paper presents an optica...
Conference Paper
Full-text available
Most current seatbelt load limiter technologies could only offer three or fewer predetermined patterns of seatbelt restraint force. However, researches have shown that, to better realize adaptive protection to different occupants under different crash severities, a continuously and real-time adjustable load limiter may be one step further. This con...

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