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Submovements are ballistic components of human motion constituting a large part of motor interaction and arising from the cyclical and overlapping cognitive processes of perception, motor planning, and motor execution. Extracting…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Mesh offsetting plays an important role in discrete geometric processing. In this paper, we propose a parallel feature-preserving mesh offsetting framework with variable distance. Different from the traditional method based on distance and…
Vibration measurements have been used to reliably diagnose performance problems in machinery and related mechanical products. A vibration data collector can be used effectively to measure and analyze the machinery vibration content in…
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and…
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…
Measured impulse responses obtained from a dynamic unmanned aerial vehicle (UAV) channel sounding system exhibit effects attributable to time-varying carrier frequency offset (CFO) and sampling frequency offset (SFO). To correct the…
The shock instability problem commonly arises in flow simulations involving strong shocks, particularly when employing high-order schemes, limiting their applications in hypersonic flow simulations. This study focuses on exploring the…
Additive manufacturing (AM) is an emerging digital manufacturing technology to produce complex and freeform objects through a layer-wise deposition. High deposition rate robotic AM (HDRRAM) processes, such as cold spray additive…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
The monitoring of rotating machinery is an essential task in today's production processes. Currently, several machine learning and deep learning-based modules have achieved excellent results in fault detection and diagnosis. Nevertheless,…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
We have developped a numerical tool in order to predict vibratory excitation of a gearbox induced by the meshing process. We propose a method based on a 3D Finite Element modelling of each toothed wheel. A non linear algorithm computes the…
Geometric variability increases performance variability and degrades the mean performance of turbomachinery compressor blades. These detrimental effects can be reduced by using robust optimization to design the blade geometry or by imposing…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
The demands of accuracy in measurements and engineering models today, renders the condition number of problems larger. While a corresponding increase in the precision of floating point numbers ensured a stable computing, the uncertainty in…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
This paper presents the exact error analysis of point positioning equation used for airborne three-dimensional(3D) imaging sensor. With differential calculus and principles of precision analysis a mathematics formula on the point position…