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Superpixel decomposition methods are widely used in computer vision and image processing applications. By grouping homogeneous pixels, the accuracy can be increased and the decrease of the number of elements to process can drastically…
We describe a framework for controlling and improving the quality of high-order finite element meshes based on extensions of the Target-Matrix Optimization Paradigm (TMOP) of Knupp. This approach allows high-order applications to have a…
Additive manufacturing (AM) allows for manufacturing of complex three-dimensional geometries not typically realizable with standard subtractive manufacturing practices. The internal microstructure of a 3D printed component can have a…
In this article, we propose a shape optimization algorithm which is able to handle large deformations while maintaining a high level of mesh quality. Based on the method of mappings we introduce a nonlinear extension operator, which links a…
We present an efficient, parallel, constrained optimization technique for approximating CAD curves with super-convergent rates. The optimization function is a disparity measure in terms of a piece-wise polynomial approximation and a curve…
This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…
We propose a Path-Tracking Hybrid A* planner coupled with a hierarchical Model Predictive Control (MPC) framework for path smoothing in agricultural vehicles. The goal is to minimize deviation from reference paths during cross-furrow…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
Hybrid manufacturing (HM) technologies combine additive and subtractive manufacturing (AM/SM) capabilities in multi-modal process plans that leverage the strengths of each. Despite the growing interest in HM technologies, software tools for…
Given the substantial growth in the use of additive manufacturing in construction (AMC), it is necessary to ensure the quality of printed specimens which can be much more complex than conventionally manufactured parts. This study explores…
There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption…
This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Multi-UAV cooperative path planning (MUCPP) is a fundamental problem in multi-agent systems, aiming to generate collision-free trajectories for a team of unmanned aerial vehicles (UAVs) to complete distributed tasks efficiently. A key…
Much contemporary research in additive manufacturing focuses on breaking down models into constituent parts in the pursuit of various factors, such as printability of large models in smaller printing volumes, or reduction of support…
We investigate the out-of-plane shape morphing capability of single-material elastic sheets with architected cut patterns that result in arrays of tiles connected by flexible hinges. We demonstrate that a non-periodic cut pattern can cause…
Tow steering technologies, such as Automated fiber placement, enable the fabrication of composite laminates with curvilinear fiber, tow, or tape paths. Designers may therefore tailor tow orientations locally according to the expected local…
We propose a novel method to generate a small set of ruled surfaces that do not collide with the input shape for linear hot-wire rough machining. Central to our technique is a new observation: the ruled surfaces constructed by vertical…
The minimal path method has proven to be particularly useful and efficient in tubular structure segmentation applications. In this paper, we propose a new minimal path model associated with a dynamic Riemannian metric embedded with an…