Related papers: Optimal Needle Diameter, Shape, and Path in Autono…
We examine the interaction of multigrid methods and shape optimization in appropriate shape spaces. Our aim is a scalable algorithm for application on supercomputers, which can only be achieved by mesh-independent convergence. The impact of…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
Shape optimization methods have been proven useful for identifying interfaces in models governed by partial differential equations. Here we consider a class of shape optimization problems constrained by nonlocal equations which involve…
In the industrial practice, additive manufacturing processes are often followed by post-processing operations such as subtractive machining, milling, etc. to achieve the desired surface quality and dimensional accuracy. Hence, a given part…
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compensate for needle tip prediction inaccuracies, however none…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
This paper introduces a method for estimating the shape and location of an embedded tumor. The approach utilizes shape optimization techniques, applying the coupled complex boundary method. By rewriting the problem -- characterized by a…
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this procedure has two main limitations: 1) Manual sampling through…
The quality of tool paths is a dominant factor in CNC machining, determining its efficiency and accuracy. This paper provides a brief review (in Chinese) on tool path planning methods reported in the literature, focusing on their…
This paper presents a method for the optimization of multi-component structures comprised of two and three materials considering large motion sliding contact and separation along interfaces. The structural geometry is defined by an explicit…
In the last decade, parameter-free approaches to shape optimization problems have matured to a state where they provide a versatile tool for complex engineering applications. However, sensitivity distributions obtained from shape…
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…
Within this work, we present a novel approach to fracture simulations based on shape optimization techniques. Contrary to widely-used phase-field approaches in literature the proposed method does not require a specified 'length-scale'…
The design of an experiment, e.g., the setting of initial conditions, strongly influences the accuracy of the whole process of determining model parameters from data. We impose a sensitivity-based approach for choosing optimal design…
Objective: To present the first real-time a posteriori error-driven adaptive finite element approach for real-time simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a…
Global instability analysis of flows is often performed via time-stepping methods, based on the Arnoldi algorithm. When setting up these methods, several computational parameters must be chosen, which affect intrinsic errors of the…
The anatomical axis of long bones is an important reference line for guiding fracture reduction and assisting in the correct placement of guide pins, screws, and implants in orthopedics and trauma surgery. This study investigates an…
We present a cut finite element method for shape optimization in the case of linear elasticity. The elastic domain is defined by a level-set function, and the evolution of the domain is obtained by moving the level-set along a velocity…
Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors,…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…