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We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are constructed from labelled point clouds. Then, the nonlinear…
While shape optimization using isogeometric shells exhibits appealing features by integrating design geometries and analysis models, challenges arise when addressing computer-aided design (CAD) geometries comprised of multiple non-uniform…
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to…
Nerve segmentation is crucial in medical imaging for precise identification of nerve structures. This study presents an optimized DeepLabV3-based segmentation pipeline that incorporates automated threshold fine-tuning to improve…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
Many applications in 3D shape design and augmentation require the ability to make specific edits to an object's semantic parameters (e.g., the pose of a person's arm or the length of an airplane's wing) while preserving as much existing…
Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could…
This paper presents a method for simultaneous optimization of the outer shape and internal topology of aircraft wings, with the objective of minimizing drag subject to lift and compliance constraints for multiple load cases. The physics are…
This paper presents a synthesis approach in a density-based topology optimization setting to design large deformation compliant mechanisms for inducing desired strains in biological tissues. The modelling is based on geometrical…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
Tube-like surfaces are widely encountered in geometry processing, engineering structures, and medical anatomy, yet their intrinsic longitudinal and circumferential topology is not well preserved by conventional planar annular or rectangular…
Correctly setting the parameters of a production machine is essential to improve product quality, increase efficiency, and reduce production costs while also supporting sustainability goals. Identifying optimal parameters involves an…
Deep learning has facilitated the automation of radiotherapy by predicting accurate dose distribution maps. However, existing methods fail to derive the desirable radiotherapy parameters that can be directly input into the treatment…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with…
Nowadays, high-speed machining is usually used for production of hardened material parts with complex shapes such as dies and molds. In such parts, tool paths generated for bottom machining feature with the conventional parallel plane…
Algorithms from Randomized Numerical Linear Algebra (RandNLA) are known to be effective in handling high-dimensional computational problems, providing high-quality empirical performance as well as strong probabilistic guarantees. However,…
This paper aims to address the nonlinear optimal guidance problem with impact-time and impact-angle constraints, which is fundamentally important for multiple pursuers to collaboratively achieve a target. Addressing such a guidance problem…
Proton therapy is a modality in fast development. Characterized by a maximum dose deposition at the end of the proton trajectory followed by a sharp fall-off, proton beams can deliver a highly conformal dose to the tumor while sparing…
We explore efficient optimization of toolpaths based on multiple criteria for large instances of 3D printing problems. We first show that the minimum turn cost 3D printing problem is NP-hard, even when the region is a simple polygon. We…