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Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
Discrete cosine transform (DCT) and other Fourier-related transforms have broad applications in scientific computing. However, off-the-shelf high-performance multi-dimensional DCT (MD DCT) libraries are not readily available in parallel…
The growing demands of the worldwide IT infrastructure stress the need for reduced power consumption, which is addressed in so-called transprecision computing by improving energy efficiency at the expense of precision. For example, reducing…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
With the advent of self-driving vehicles, autonomous driving systems will have to rely on a vast number of heterogeneous sensors to perform dynamic perception of the surrounding environment. Synthetic Aperture Radar (SAR) systems increase…
Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…
He and Yuan's prediction-correction framework [SIAM J. Numer. Anal. 50: 700-709, 2012] is able to provide convergent algorithms for solving separable convex optimization problems at a rate of $O(1/t)$ ($t$ represents iteration times) in…
The H-frame (also known as H-Bot) architecture is a simple and elegant two-axis parallel positioning system used to construct the XY stage of 3D printers. It holds potential for high speed and excellent dynamic performance due to the use of…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
We present the first unified framework for rate-distortion-optimized compression and segmentation of 3D Gaussian Splatting (3DGS). While 3DGS has proven effective for both real-time rendering and semantic scene understanding, prior works…
This paper presents the results of a numerical algorithm development to optimize the engine strokes in a linear engine incorporating combustion and kickback. Due to the free piston reciprocal movement occurring in linear engines, the stroke…
Joint sparsity has attracted considerable attention in recent years in many fields including sparse signal recovery in compressed sensing (CS), statistics, and machine learning. Traditional convex models suffer from the suboptimal…
This paper introduces a methodology designed to augment the inverse design optimization process in scenarios constrained by limited compute, through the strategic synergy of multi-fidelity evaluations, machine learning models, and…
Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
Fourier acceleration is a technique used in Hybrid Monte Carlo simulations to decrease the autocorrelation between subsequent field configurations in the generated ensemble. It has been shown, in the perturbative limit, to eliminate the…
We establish a broad methodological foundation for mixed-integer optimization with learned constraints. We propose an end-to-end pipeline for data-driven decision making in which constraints and objectives are directly learned from data…
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
Various defects occur during material extrusion additive manufacturing processes that degrade the quality of the 3D printed parts and lead to significant material waste. This motivates feedback control of the extrusion process to mitigate…
In this paper we derive and test a probability-based weighting that can balance residuals of different types in spline fitting. In contrast to previous formulations, the proposed spline error weighting scheme also incorporates a prediction…