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Tolerance estimation problems are prevailing in engineering applications. For example, in modern robotics, it remains challenging to efficiently estimate joint tolerance, \ie the maximal allowable deviation from a reference robot state such…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…
The noise generated by the friction of two rough surfaces under weak contact pressure is usually called roughness noise. The underlying vibration which produces the noise stems from numerous instantaneous shocks (in the microsecond range)…
The geometric-mean method is often used to estimate the spatial resolution of a position-sensitive detector probed by tracks. It calculates the resolution solely from measured track data without using a detailed tracking simulation and…
Additive manufacturing, or 3D printing, is a promising manufacturing technique marred by product deformation due to material solidification in the printing process. Control of printed product deformation can be achieved by a compensation…
Nonlinear forces allow motion of a mechanical oscillator to be squeezed below the zero-point motion. Of existing methods, mechanical parametric amplification is relatively accessible, but previously thought to be limited to 3dB of squeezing…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Objective: Shoulder exoskeletons can effectively assist with overhead work. However, their impacts on muscle synergy remain unclear. The objective is to systematically investigate the effects of the shoulder exoskeleton on muscle synergies…
Interventional C-arm systems allow flexible 2-D imaging of a 3-D scene while being capable of cone beam computed tomography. Due to the flexible structure of the C-arm, the rotation speed is limited, increasing the acquisition time compared…
The task of estimating the gradient of a function in the presence of noise is central to several forms of reinforcement learning, including policy search methods. We present two techniques for reducing gradient estimation errors in the…
Involuntary subject motion is the main source of artifacts in weight-bearing cone-beam CT of the knee. To achieve image quality for clinical diagnosis, the motion needs to be compensated. We propose to use inertial measurement units (IMUs)…
Fault detection at rotating machinery with the help of vibration sensors offers the possibility to detect damage to machines at an early stage and to prevent production downtimes by taking appropriate measures. The analysis of the vibration…
It is known that beyond a critical speed, the straight contact line of a partially-wetting liquid destabilizes into a corner. In one of the earliest theoretical works exploring this phenomenon, [L. Limat and H. A. Stone, Europhys. Lett.…
Computer experiments with quantitative and qualitative inputs are widely used to study many scientific and engineering processes. Much of the existing work has focused on design and modeling or process optimization for such experiments.…
Cone-beam computed tomography (CBCT) has been widely used in medical imaging and industrial nondestructive testing, but the presence of scattered radiation will cause significant reduction of image quality. In this article, a robust scatter…
Our main interest in this paper is to study some approximation problems for classes of functions with mixed smoothness. We use technique, based on a combination of results from hyperbolic cross approximation, which were obtained in 1980s --…
Increased penetration of inverter-connected renewable energy sources (RES) in the power system has resulted in a decrease in available rotational inertia which serves as an immediate response to frequency deviation due to disturbances. The…
Competing time scales generate novelty. Here, we show that a coupling between the time scales imposed by instrument inertia and the formation of inter-particle frictional contacts in shear-thickening suspensions leads to highly asymmetric…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…