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The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Non-destructive X-ray imaging of thruster parts and assemblies down to the scale of several micrometers is a key technology for electric propulsion research and engineering. It allows for thorough product assurance, rapid state acquisition…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
We present a methodology to simulate the mechanics of knots in elastic rods using geometrically nonlinear, full three-dimensional (3D) finite element analysis. We focus on the mechanical behavior of knots in tight configurations, for which…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Pointed pseudo-triangulations are planar minimally rigid graphs embedded in the plane with pointed vertices (adjacent to an angle larger than 180 degrees. In this paper we prove that the opposite statement is also true, namely that planar…
We propose a novel probabilistic dimensionality reduction framework that can naturally integrate the generative model and the locality information of data. Based on this framework, we present a new model, which is able to learn a smooth…
This paper introduces a novel curve-based slicing method for generating planar layers with dynamically varying orientations in digital light processing (DLP) 3D printing. Our approach effectively addresses key challenges in DLP printing,…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Dielectric structures composed of many inclusions that manipulate light in ways the bulk materials cannot are commonly seen in the field of metamaterials. In these structures, each inclusion depends on a set of parameters such as location…
Using nonlinear projections and preserving structure in model order reduction (MOR) are currently active research fields. In this paper, we provide a novel differential geometric framework for model reduction on smooth manifolds, which…
This paper discusses current methods and trends for 3D bounding box detection in volumetric medical image data. For this purpose, an overview of relevant papers from recent years is given. 2D and 3D implementations are discussed and…
A new numerical approach is proposed for the simulation of coupled three-dimensional and one-dimensional elliptic equations (3D-1D coupling) arising from dimensionality reduction of 3D-3D problems with thin inclusions. The method is based…
We propose the first algorithm for non-rigid 2D-to-3D shape matching, where the input is a 2D shape represented as a planar curve and a 3D shape represented as a surface; the output is a continuous curve on the surface. We cast the problem…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
Implicit neural representations have emerged as a powerful tool in learning 3D geometry, offering unparalleled advantages over conventional representations like mesh-based methods. A common type of INR implicitly encodes a shape's boundary…
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…
We present a novel methodology based on geometric approach to simulate magnification lens effects. Our aim is to promote new applications of powerful geometric modeling techniques in visual computing. Conventional image…
With recent advances in both responsive materials and fabrication techniques it is now possible to construct integrated functional structures, composed of both structural and active materials. We investigate the robust design of such…