Related papers: Minimally Invasive Flexible Needle Manipulation Ba…
A number of recent studies have focused on developing surgical simulation platforms to train machine learning (ML) agents or models with synthetic data for surgical assistance. While existing platforms excel at tasks such as rigid body…
This paper recalls the principles of the finite-element methods (FEM) theory and declines its application in the EN-MME group, for the numerical modelling and study of particle accelerator equipment. Implicit and explicit methods are…
Electromagnetic (EM) tracking enables localization of surgical instruments within the magnetic field emitted by an EM field generator (FG). Usually, the larger a FG is, the larger its tracking volume is. However, the company NDI (Northern…
This article presents a sparse, low-memory footprint optimization algorithm for the implementation of the model predictive control (MPC) for tracking formulation in embedded systems. This MPC formulation has several advantages over standard…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
We present a method and an implementation for smooth linear motion in a finite difference-based micromagnetic simulation code, to be used in simulating magnetic friction and other phenomena involving moving microscale magnets. Our aim is to…
Cracking Elements Method (CEM) is a numerical tool to simulate quasi-brittle fractures, which does not need remeshing, nodal enrichment, or complicated crack tracking strategy. The cracking elements used in the CEM can be considered as a…
Electromagnetic tracking (EMT) is a core platform technology in the navigation and visualisation of image-guided procedures. The technology provides high tracking accuracy in non-line-of-sight environments, allowing instrument navigation in…
Image-guided surgery collocates patient-specific data with the physical environment to facilitate surgical decision making in real-time. Unfortunately, these guidance systems commonly become compromised by intraoperative soft-tissue…
Purpose: This study demonstrates a proof of concept of a method for simultaneous anatomical imaging and real-time (SMART) passive device tracking for MR-guided interventions. Methods: Phase Correlation template matching was combined with a…
Inferring the input parameters of simulators from observations is a crucial challenge with applications from epidemiology to molecular dynamics. Here we show a simple approach in the regime of sparse data and approximately correct models,…
Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead to particular difficulties in modeling and control. This…
The complex physics behind electroadhesion-based tactile displays poses an enormous modeling challenge since not only the fingerpad structure with multiple nonlinear layers, but also the roughness at the microscopic scale play a decisive…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
We investigate the mechanics of bistable, hard-magnetic, elastic beams, combining experiments, finite element modeling (FEM), and a reduced-order theory. The beam is made of a hard magneto-rheological elastomer, comprising two segments with…
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…
The finite element simulation of dynamic wetting phenomena, requiring the computation of flow in a domain confined by intersecting a liquid-fluid free surface and a liquid-solid interface, with the three-phase contact line moving across the…
In this paper, we propose a computationally efficient framework for interval reachability of systems with neural network controllers. Our approach leverages inclusion functions for the open-loop system and the neural network controller to…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…