Related papers: Spherical acquisition trajectories for X-ray compu…
Recent advances in computed tomography (CT) imaging, especially with dual-robot systems, have introduced new challenges for scan trajectory optimization. This paper presents a novel approach using Gated Recurrent Units (GRUs) to optimize CT…
The MARS scanner is designed for the x-ray spectroscopic study of samples with the aid of computer tomography methods. Computer tomography allows the reconstruction of slices of an investigated sample using a set of shadow projections…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
This dissertation relates to the transition of the state of the art of swept source optical coherence tomography (SS-OCT) systems to a new realm in which the image acquisition speed is improved by an order of magnitude. With the aid of a…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
Magnetic Resonance Imaging (MRI) has long been considered to be among "the gold standards" of diagnostic medical imaging. The long acquisition times, however, render MRI prone to motion artifacts, let alone their adverse contribution to the…
Performing X-ray computed tomography (CT) examinations with less radiation has recently received increasing interest: in medical imaging this means less (potentially harmful) radiation for the patient; in non-destructive testing of…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
We present an approach for utilizing astrometric orbit information to improve the yield of planetary images and spectra from a follow-on direct detection mission. This approach is based on the notion-strictly hypothetical-that if a…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
Recent microscopy imaging techniques allow to precisely analyze cell morphology in 3D image data. To process the vast amount of image data generated by current digitized imaging techniques, automated approaches are demanded more than ever.…
Dynamic Magnetic Resonance Imaging (MRI) is a crucial non-invasive method used to capture the movement of internal organs and tissues, making it a key tool for medical diagnosis. However, dynamic MRI faces a major challenge: long…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Molecular dynamics simulations yield large amounts of trajectory data. For their durable storage and accessibility an efficient compression algorithm is paramount. State of the art domain-specific algorithms combine quantization, Huffman…
Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
Currently, robotic grasping methods based on sparse partial point clouds have attained a great grasping performance on various objects while they often generate wrong grasping candidates due to the lack of geometric information on the…
This paper introduces a method to preform optical tomography, using 3D radiative transfer as the forward model. We use an iterative approach predicated on the Spherical Harmonics Discrete Ordinates Method (SHDOM) to solve the optimization…