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Model-based control for robots has increasingly been dependent on optimization-based methods like Differential Dynamic Programming and iterative LQR (iLQR). These methods can form the basis of Model-Predictive Control (MPC), which is…
Trimming techniques are efficient ways to generate complex geometries in Computer-Aided Design(CAD). In this paper, an improved isogeometric analysis(IGA) method for trimmed geometries is proposed. We will show that the proposed method…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
We introduce an adaptable kinematic modelling tool called ROHSA-SNAPD, "Spatially Non-parametric Approach to PSF Deconvolution using ROHSA". ROHSA-SNAPD utilises kinematic regularisation to forward model the intrinsic emission-line flux and…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initialized from neutral/rest configurations, often exhibit slow…
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…
Model-based 3D pose and shape estimation methods reconstruct a full 3D mesh for the human body by estimating several parameters. However, learning the abstract parameters is a highly non-linear process and suffers from image-model…
A major challenge in developing accurate and robust numerical solutions to multi-physics problems is to correctly model evolving discontinuities in field quantities, which manifest themselves as interfaces between different phases in…
Efficient structural reanalysis for high-rank modification plays an important role in engineering computations which require repeated evaluations of structural responses, such as structural optimization and probabilistic analysis. To…
Cylindrical algebraic decomposition (CAD) is an important tool for the study of real algebraic geometry with many applications both within mathematics and elsewhere. It is known to have doubly exponential complexity in the number of…
This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully…
Digital image correlation (DIC) is a widely used optical metrology for quantitative deformation measurement due to its non-contact, low-cost, highly precise feature. DIC relies on nonlinear optimization algorithm. Thus it is quite important…
We show that the inverse problems for a class of kinetic equations can be solved by classical tools in PDE analysis including energy estimates and the celebrated averaging lemma. Using these tools, we give a unified framework for the…
Analytic methods are emerging in solid and configuration modeling, while providing new insights into a variety of shape and motion related problems by exploiting tools from group morphology, convolution algebras, and harmonic analysis.…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
Supervised Deep-Learning (DL)-based reconstruction algorithms have shown state-of-the-art results for highly-undersampled dynamic Magnetic Resonance Imaging (MRI) reconstruction. However, the requirement of excessive high-quality…
Determining kinetic rate constants is a highly relevant problem in biochemistry, so various methods have been designed to extract them from experimental data. Such methods have two main components: the experimental apparatus and the…
In groundwater contaminant remediation and risk assessment, it is important to identify parameters of the contaminant source and hydraulic conductivity field by solving an inverse problem. However, if the dimensionality of the inverse…
We analyse some QR decomposition algorithms, and show that the I/O complexity of the tile based algorithm is asymptotically the same as that of matrix multiplication. This algorithm, we show, performs the best when the tile size is chosen…