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Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
One of the main challenges in simultaneous localization and mapping (SLAM) is real-time processing. High-computational loads linked to data acquisition and processing complicate this task. This article presents an efficient feature…
This paper presents a smooth trajectory generation method for a four-degree-of-freedom parallel kinematic milling robot. The proposed approach integrates B-spline and Quaternion interpolation techniques to manage decoupled position and…
We present a robust optimization algorithm for the design of electromagnetic coils that generate vacuum magnetic fields with nested flux surfaces and precise quasi-symmetry. The method is based on a bilevel optimization problem, where the…
Designs generated by density-based topology optimization (TO) exhibit jagged and/or smeared boundaries, which forms an obstacle to their integration with existing CAD tools. Addressing this problem by smoothing or manual design adjustments…
In this paper, we present a powerful differentiable surface fitting technique to derive a compact surface representation for a given dense point cloud or mesh, with application in the domains of graphics and CAD/CAM. We have chosen the Loop…
Microscopic fringe projection profilometry is a powerful 3D measurement technique with a theoretical measurement accuracy better than one micron provided that the measured targets can be imaged with good fringe visibility. However,…
This research proposes a computation approach to address the evaluation of end product machining accuracy in elliptical surfaced helical pipe bending using 6dof parallel manipulator as a pipe bender. The target end product is wearable metal…
In this paper we analyze how Transformation Optics recipes can be applied to control the flow of surface plasmons on metal-dielectric interfaces. We study in detail five different examples: a cylindrical cloak, a beam shifter, a right-angle…
The conformal mapping method is used to study the problem of flux line interaction with surface cavities having cylindrical profile and characteristic size much less than the penetration length, i.e, within mesoscopic scale. It is shown…
Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…
Conformal mapping is an important mathematical tool in many physical and engineering fields, especially in electrostatics, fluid mechanics, classical mechanics, and transformation optics. However in the existing textbooks and literatures,…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
Realtime perceptual and interaction capabilities in mixed reality require a range of 3D tracking problems to be solved at low latency on resource-constrained hardware such as head-mounted devices. Indeed, for devices such as HoloLens 2…
An extension of the Method of Regularized Stokeslets (MRS) in three dimensions is developed for triangulated surfaces with a piecewise linear force distribution. The method extends the regularized Stokeslet segment methodology used for…
We propose a new approach for controlling the characteristics of certain mesh faces during optimization of high-order curved meshes. The practical goals are tangential relaxation along initially aligned curved boundaries and internal…
Conformal surface parameterization is useful in graphics, imaging and visualization, with applications to texture mapping, atlas construction, registration, remeshing and so on. With the increasing capability in scanning and storing data,…
While recent advances in Gaussian Splatting have enabled fast reconstruction of high-quality 3D scenes from images, extracting accurate surface meshes remains a challenge. Current approaches extract the surface through costly…
We present and analyze a new finite element method for solving interface problems on a triangular grid. The method locally modifies a given triangulation such that the interfaces are accurately resolved and the maximal angle condition…
We propose a novel computational framework for optimizing the toolpath continuity in fabricating surface models on an extrusion-based 3D printer. Toolpath continuity has been a critical issue for extrusion-based fabrications that affects…