相关论文: Tolerancing analysis and functional requirement
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
We propose a computational design tool to enable casual end-users to easily design, fabricate, and assemble flat-pack furniture with guaranteed manufacturability. Using our system, users select parameterized components from a library and…
Window decoding, first proposed to reduce decoding complexity for real-time decoding, is an essential component to realize scalable, universal-fault tolerant computation. Prior work has focused on improving throughput through…
A method is proposed for determining the line tension, which is the main physical characteristic of a three-phase contact region, by Monte-Carlo (MC) simulations. The key idea of the proposed method is that if a three-phase equilibrium…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
The Coherence Length Diagram and the related maps have been shown to represent a useful tool for image analysis. Setting threshold parameters is one of the most important issues when dealing with such applications, as they affect both the…
Product disassembly is a labor-intensive process and is far from being automated. Typically, disassembly is not robust enough to handle product varieties from different shapes, models, and physical uncertainties due to component…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
We discuss the feasibility of the following learning problem: given unmatched samples from two domains and nothing else, learn a mapping between the two, which preserves semantics. Due to the lack of paired samples and without any…
Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…
A natural requirement of many distributed structures is fault-tolerance: after some failures, whatever remains from the structure should still be effective for whatever remains from the network. In this paper we examine spanners of general…
Linear regression models depend directly on the design matrix and its properties. Techniques that efficiently estimate model coefficients by partitioning rows of the design matrix are increasingly popular for large-scale problems because…
The presence of surface defects (roughness, surface imperfections, profiles, etc.) in a contact inevitably leads to the modification of its local properties, such as the coefficient of friction. In railway wheelsets, this surface condition…
It is commonly agreed that highly parallel software on Exascale computers will suffer from many more runtime failures due to the decreasing trend in the mean time to failures (MTTF). Therefore, it is not surprising that a lot of research is…
Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…
Clustering is one of the fundamental tasks in data analytics and machine learning. In many situations, different clusterings of the same data set become relevant. For example, different algorithms for the same clustering task may return…
Achieving fault-tolerance will require a strong relationship between the hardware and the protocols used. Different approaches will therefore naturally have tailored proof-of-principle experiments to benchmark progress. Nevertheless,…
This paper addresses how to construct features for the problem of image correspondence, in particular, the paper addresses how to construct features so as to maintain the right level of invariance versus discriminability. We show that…
Precise measurements from sensors are crucial, but data is usually collected from low-cost, low-tech systems, which are often inaccurate. Thus, they require further calibrations. To that end, we first identify three requirements for…