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Surface metrology is the area of engineering concerned with the study of geometric variation in surfaces. This paper explores the potential for modern techniques from spatial statistics to act as generative models for geometric variation in…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Scene graphs capture complex relationships among objects, serving as strong priors for content generation and manipulation. Yet, reasonably manipulating scene graphs -- whether by adding nodes or modifying edges -- remains a challenging and…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…
Surgical Scene Graphs abstract the complexity of surgical operating rooms (OR) into a structure of entities and their relations, but existing paradigms suffer from strictly dyadic structural limitations. Frameworks that predominantly rely…
Since the shape of industrial endoscopes is passively altered according to the contact around it, manual inspection approaches of aeroengines through the inspection ports have unreachable areas, and it's difficult to traverse multistage…
Multiply connected freeform surface features are widely encountered in industrial components, where toolpath generation often suffers from discontinuities, sharp turns, non-uniform scallop heights, and incomplete boundary coverage. This…
A high degree of control over the structure and dynamics of domain patterns in nonequilibrium systems can be achieved by applying nonuniform external fields near parity breaking front bifurcations. An external field with a linear spatial…
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the…
In graph learning, maps between graphs and their subgraphs frequently arise. For instance, when coarsening or rewiring operations are present along the pipeline, one needs to keep track of the corresponding nodes between the original and…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Classical vector analysis is the predominant formalism used by engineers of computational electromagnetism, despite the fact that manifold as a theoretical concept has existed for a century. This paper discusses the benefits of manifolds…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planners struggle in these lifelong planning scenarios due to…
This paper describes a numerical method for finding good packings in Grassmannian manifolds equipped with various metrics. This investigation also encompasses packing in projective spaces. In each case, producing a good packing is…
Understanding how neural systems efficiently process information through distributed representations is a fundamental challenge at the interface of neuroscience and machine learning. Recent approaches analyze the statistical and geometrical…
Mode tapering, or the gradual manipulation of the size of some mode, is a requirement for any system that aims to efficiently interface two or more subsystems of different mode sizes. While high efficiency tapers have been demonstrated,…
Thread-level parallelism in irregular applications with mutable data dependencies presents challenges because the underlying data is extensively modified during execution of the algorithm and a high degree of parallelism must be realized…
This paper presents the geometric aspect of the autoencoder framework, which, despite its importance, has been relatively less recognized. Given a set of high-dimensional data points that approximately lie on some lower-dimensional…