Related papers: Combined servo error pre-compensation and feedrate…
Recent advances in 3D Gaussian Splatting (3DGS) present two main directions: feed-forward models offer fast inference in sparse-view settings, while per-scene optimization yields high-quality renderings but is computationally expensive. To…
We propose a data-driven optimization-based pre-compensation method to improve the contour tracking performance of precision motion stages by modifying the reference trajectory and without modifying any built-in low-level controllers. The…
Dedicated hardware accelerators are suitable for parallel computational tasks. Moreover, they have the tendency to accept inexact results. These hardware accelerators are extensively used in image processing and computer vision…
In phase-shifting profilometry (PSP), any motion during the acquisition of fringe patterns can introduce errors because it assumes both the object and measurement system are stationary. Therefore, we propose a method to pixel-wise reduce…
Low precision arithmetic, in particular half precision floating point arithmetic, is now available in commercial hardware. Using lower precision can offer significant savings in computation and communication costs with proportional savings…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
3D Gaussian Splatting (3DGS) has shown immense potential for novel view synthesis. However, achieving rate-distortion-optimized compression of 3DGS representations for transmission and/or storage applications remains a challenge. CAT-3DGS…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
Many sources of errors exist in the manufacturing process of complex shapes. Some approximations occur at each step from the design geometry to the machined part. The aim of the paper is to present a method to evaluate the effect of high…
Off-the-shelf fused filament fabrication 3D printers are widely accessible and convenient, yet they exhibit quality loss at high speeds due to dynamic mis-synchronization between printhead motion and material extrusion systems, notably…
Cameras and LiDAR are essential sensors for autonomous vehicles. Camera-LiDAR data fusion compensate for deficiencies of stand-alone sensors but relies on precise extrinsic calibration. Many learning-based calibration methods predict…
Machine learning (ML) training algorithms often possess an inherent self-correcting behavior due to their iterative-convergent nature. Recent systems exploit this property to achieve adaptability and efficiency in unreliable computing…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
Additive manufacturing of metal parts involves phase transformations and high temperature gradients which lead to uneven thermal expansion and contraction, and, consequently, distortion of the fabricated components. The distortion has a…
Reverse engineering can be used to derive a 3D model of an existing physical part when such a model is not readily available. For parts that will be fabricated with subtractive and formative manufacturing processes, existing reverse…
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…