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Virtual garment simulation has become increasingly important with applications in garment design and virtual try-on. However, reproducing garments faithfully remains a cumbersome process. We propose an end-to-end method for estimating…
High-dimensional classification problems often rely on the Lasso-penalized linear Support Vector Machines (SVMs). However, the double non-smoothness induced by the hinge loss and Lasso penalty in this model makes statistical inference…
Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…
The Antikythera Mechanism is based on a complex system of interconnected gears. Recent analyses have highlighted the influence of triangular tooth profiles and manufacturing inaccuracies on its performance. This study combines Alan…
In this thesis a rendering system and an accompanying tool chain for Virtual Texturing is presented. Our tools allow to automatically retexture existing geometry in order to apply unique texturing on each face. Furthermore we investigate…
The verification of successful grasps is a crucial aspect of robot manipulation, particularly when handling deformable objects. Traditional methods relying on force and tactile sensors often struggle with deformable and non-rigid objects.…
The incidence of vertebral fragility fracture is increased by the presence of preexisting pathologies such as metastatic disease. Computational tools could support the fracture prediction and consequently the decision of the best medical…
This paper presents a survey of the state-of-the-art deformable models studied in the literature concerning soft tissue deformable modeling for interactive surgical simulation. It first introduces the challenges of surgical simulation,…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
This chapter is aimed at introducing the fundamentals of spur and helical gear dynamics. Using three-dimensional lumped models and a thin-slice approach for mesh elasticity, the general equations of motion for single-stage spur or helical…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…
The mesh flexibility offered by the virtual element method through the permission of arbitrary element geometries, and the seamless incorporation of `hanging' nodes, has made the method increasingly attractive in the context of adaptive…
Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…
This paper discusses an important issue about the virtual fields method when it is used to identify nonhomogeneous shear moduli of nearly incompressible solids. From simulated examples, we observed that conventional virtual fields, which…
The recent proposal of a new alignment solution for X-ray tomography, Virtual alignment method (VAM) allowed a more accurate method to remove the possible errors that limit the resolution and clarity of the reconstructed image. In the field…
This paper presents a method to simulate the thermal behavior of 3D systems using a graph neural network. The method discussed achieves a significant speed-up with respect to a traditional finite-element simulation. The graph neural network…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, which is hung with the top edge fixed. Due…
Simulating real-time dynamics under a Hamiltonian is a central goal of quantum information science. While numerous Hamiltonian-simulation quantum algorithms have been proposed, the effects of physical noise have rarely been incorporated…