Related papers: Lie Group Formulation and Sensitivity Analysis for…
The random percolation model can be viewed as the dual of a well defined confining gauge theory; since this theory, having no Monte Carlo dynamics at all, is simple to simulate, it is possible to study the properties of the flux tube with…
Neural operators offer an effective framework for learning solutions of partial differential equations for many physical systems in a resolution-invariant and data-driven manner. Existing neural operators, however, often suffer from…
Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One established technique to implement LfD in robots is to encode…
Natural control of limb motion is continuous and progressively adaptive to individual intent. While intuitive interfaces have the potential to rely on the neuromuscular input by the user for continuous adaptation, continuous volitional…
Advancement of imaging techniques enables consecutive image sequences to be acquired for quality monitoring of manufacturing production lines. Registration for these image sequences is essential for in-line pattern inspection and metrology,…
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EIT-based tactile sensors face significant challenges during…
One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies the desired characteristics by modifying the wire…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Shape analysis methods have in the past few years become very popular, both for theoretical exploration as well as from an application point of view. Originally developed for planar curves, these methods have been expanded to higher…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
The loop variable technique (for open strings in flat space) is a gauge invariant generalization of the renormalization group method for obtaining equations of motion. Unlike the beta functions, which are only proportional to the equations…
Medical image segmentation is one of the important tasks of computer-aided diagnosis in medical image analysis. Since most medical images have the characteristics of blurred boundaries and uneven intensity distribution, through existing…
Accurate reconstruction of arbitrary-shaped long slender continuum bodies, such as guidewires, catheters and other soft continuum manipulators, is essential for accurate mechanical simulation. However, existing image-based reconstruction…
In this paper, we propose a novel mathematical framework for piecewise diffeomorphic image registration that involves discontinuous sliding motion using a diffeomorphism groupoid and algebroid approach. The traditional Large Deformation…
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
The article considers smooth optimization of functions on Lie groups. By generalizing NAG variational principle in vector space (Wibisono et al., 2016) to Lie groups, continuous Lie-NAG dynamics which are guaranteed to converge to local…