Related papers: Conformal Slit Mapping Based Spiral Tool Trajector…
We present a technique to optimize the reflectivity of a surface while preserving its overall shape. The naive optimization of the mesh vertices using the gradients of reflectivity simulations results in undesirable distortion. In contrast,…
The Sinc approximation has shown high efficiency for numerical methods in many fields. Conformal maps play an important role in the success, i.e., appropriate conformal map must be employed to elicit high performance of the Sinc…
Most existing approaches for point cloud normal estimation aim to locally fit a geometric surface and calculate the normal from the fitted surface. Recently, learning-based methods have adopted a routine of predicting point-wise weights to…
The process of self-morphing in curved surfaces found in nature, such as with the growth of flowers and leaves, has generated interest in the study of self-morphing bilayers, which has been used in many soft robots or switchers. However,…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
We propose a novel early-terminating mesh refinement strategy using an integrated residual method to solve dynamic feasibility problems. As a generalization of direct collocation, the integrated residual method is used to approximate an…
With the advancement in 3D scanning technology, there has been a surge of interest in the use of point clouds in science and engineering. To facilitate the computations and analyses of point clouds, prior works have considered…
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with…
This paper proposes improvements to the physically-based surface triangulation method, bubble meshing. The method simulates physical bubbles to automatically generate mesh vertices, resulting in high-quality Delaunay triangles. Despite its…
This paper presents an efficient solution to 3D-LiDAR-based Monte Carlo localization (MCL). MCL robustly works if particles are exactly sampled around the ground truth. An inertial navigation system (INS) can be used for accurate sampling,…
Obtaining high-quality particle distributions for stable and accurate particle-based simulations poses significant challenges, especially for complex geometries. We introduce a preprocessing technique for 2D and 3D geometries, optimized for…
Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…
The accuracy of finite element solutions is closely tied to the mesh quality. In particular, geometrically nonlinear problems involving large and strongly localized deformations often result in prohibitively large element distortions. In…
Future complementary metal oxide semiconductor (CMOS) scaling for advanced integrated circuit (IC) technologies may well depend on "More than Moore" (MtM) approaches using heterogeneous integration of semiconductor-based devices. In order…
We propose a method for designing refractive optical elements for collimated beam shaping. In this method, the problem of finding a ray mapping is formulated as a linear assignment problem, which is a discrete version of the corresponding…
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…
Harmonic decomposition of surfaces, such as spherical and spheroidal harmonics, is used to analyze morphology, reconstruct, and generate surface inclusions of particulate microstructures. However, obtaining high-quality meshes of…
Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…
The present study proposes a new efficient and robust algorithm for multi-objectives topology optimization of heat transfer surfaces to achieve heat transfer enhancement with a less pressure drop penalty based on a continuous adjoint…
In computer graphics, smooth data reconstruction on 2D or 3D manifolds usually refers to subdivision problems. Such a method is only valid based on dense sample points. The manifold usually needs to be triangulated into meshes (or patches)…