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Hyperbolic (HB) programming generalizes many popular convex optimization problems, including semidefinite and second-order cone programming. Despite substantial theoretical progress on HB programming, efficient computational tools for…
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it…
Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on…
Active muscles are crucial for maintaining postural stability when seated in a moving vehicle. Advanced active 3D non-linear full body models have been developed for impact and comfort simulation, including large numbers of individual…
The mode shape function is difficult to determine in modeling manipulators with flexible links using the assumed mode method. In this paper, for a planar 3-RRR parallel manipulator with flexible actuation links, we provide a data-driven…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Large-scale dynamic inverse problems are often ill-posed due to model complexity and the high dimensionality of the unknown parameters. Regularization is commonly employed to mitigate ill-posedness by incorporating prior information and…
Variational quantum algorithms (VQAs) have attracted remarkable interest over the past few years because of their potential computational advantages on near-term quantum devices. They leverage a hybrid approach that integrates classical and…
This study presents an integrated methodology for fault detection in wind turbine blades using 3D-printed scaled models, finite element simulations, experimental modal analysis, and machine learning techniques. A scaled model of the NREL…
This paper deals with combination of two modern engineering methods in order to optimise the shape of a representative casting product. The product being analysed is a sling, which is used to attach pulling rope in timber transportation.…
Scanning Laser Doppler Vibrometer (SLDV) measurements are affected by sensor head vibrations as if they are vibrations of the target surface itself. This paper presents practical correction schemes to solve this important problem. The study…
With the rapid development of industry, the vibration control of flexible structures and underactuated systems has been increasingly gaining attention. Input shaping technology enables stable performance for high-speed motion in industrial…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
We present a systematic, computationally efficient approach for synthesizing 3D-printable all-dielectric devices. Inverse-design optimization methods lead to devices of a continuous dielectric constant profile with complex and conformal…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
The neural radiance field (NeRF) has made significant strides in representing 3D scenes and synthesizing novel views. Despite its advancements, the high computational costs of NeRF have posed challenges for its deployment in…
This paper presents a model-free deep reinforcement learning (DRL) approach for controlling a fiber drawing system. The custom DRL-based control system predictively regulates fiber diameter and produces a fiber with a desired, constant or…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
Recently, 3D vision-based diffusion policies have shown strong capability in learning complex robotic manipulation skills. However, a common architectural mismatch exists in these models: a tiny yet efficient point-cloud encoder is often…
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…