Related papers: Tolerancing analysis and functional requirement
State machine formalisms equipped with hierarchy and parallelism allow to compactly model complex system behaviours. Such models can then be transformed into executable code or inputs for model-based testing and verification techniques.…
The aim of this article is to introduce a new methodology for constructing morphings between shapes that have identical topology. The morphings are obtained by deforming a reference shape, through the resolution of a sequence of linear…
We present a two-stage framework that integrates a learning-based estimator and a controller, designed to address contact-intensive tasks. The estimator leverages a Bayesian particle filter with a mixture density network (MDN) structure,…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
Large-scale decentralized systems of autonomous agents interacting via asynchronous communication often experience the following self-healing dilemma: fault detection inherits network uncertainties making a remote faulty process…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
In the present paper we consider quantitative estimation of the tolerances widening in optical systems with curved detectors. The gain in image quality allows to loosen the margins for manufacturing and assembling errors. On another hand,…
Metasurfaces, the two-dimensional counterpart of metamaterials, have caught great attention thanks to their powerful control over electromagnetic waves. Recent times have seen the emergence of a variety of metasurfaces exhibiting not only…
Classical field forecast evaluation relies mainly on local scores such as RMSE or MAE. These metrics severely over-penalize small spatial or temporal displacements of coherent structures, a limitation known as the double-penalty issue and…
As the use of machine learning models has increased, numerous studies have aimed to enhance fairness. However, research on the intersection of fairness and explainability remains insufficient, leading to potential issues in gaining the…
Optimal solutions of combinatorial optimization problems can be sensitive to changes in the cost of one or more elements of the ground set E. Single and set tolerances measure the supremum / infimum possible change such that the current…
One of the central issues of several machine learning applications on real data is the choice of the input features. Ideally, the designer should select only the relevant, non-redundant features to preserve the complete information…
Manufacturability assessment is a critical step in bridging the persistent gap between design and production. While artificial intelligence (AI) has been widely applied to this task, most existing frameworks rely on geometry-driven methods…
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…
Internal porosity remains a critical defect mode in additively manufactured components, compromising structural performance and limiting industrial adoption. Automated defect detection methods exist but lack interpretability, preventing…
Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly…
Bone adapts in response to its mechanical environment. This evolution of bone density is one of the most important mechanisms for developing fracture resistance. A finite element framework for simulating bone adaptation, commonly called…
Vehicle platoon often face the problem of lack of scalability of maneuvers in practical applications. Once a new scenario is added, the original program may no longer be available. To deal with this problem, this paper introduces a…
Compliance control is an increasingly employed technique used in the robotic field. It is known that various mechanical properties can be reproduced depending on the design of the stiffness matrix, but the design theory that takes advantage…
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…