相关论文: Optimal Needle Diameter, Shape, and Path in Autono…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
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…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
In vehicle production factories, the vehicle painting process employs multiple robotic arms to simultaneously apply paint to car bodies advancing along a conveyor line. Designing paint paths for these robotic arms, which involves assigning…
Wide variety of engineering design tasks can be formulated as constrained optimization problems where the shape and topology of the domain are optimized to reduce costs while satisfying certain constraints. Several mathematical approaches…
We consider the problem of approximating a two-dimensional shape contour (or curve segment) using discrete assembly systems, which allow to build geometric structures based on limited sets of node and edge types subject to edge length and…
Surgical guidance can be delivered in various ways. In neurosurgery, spatial guidance and orientation are predominantly achieved through neuronavigation systems that reference pre-operative MRI scans. Recently, there has been growing…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…
Structural pruning has been widely studied for its effectiveness in compressing neural networks. However, existing methods often neglect the interconnections among parameters. To address this limitation, this paper proposes a structural…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Recently, a new bi-layer dressing was proposed by Urgo RID to reduce the healing time of pressure ulcers (PU). This dressing was numerically evaluated in previously published work. In the current work, the influence on the maximal shear…
In parametric design, the geometric model is edited by changing relevant parameters in the parametric model, which is commonly done sequentially on multiple parameters. Without guidance on allowable parameter ranges that can guarantee the…
In the field of parametric partial differential equations, shape optimization represents a challenging problem due to the required computational resources. In this contribution, a data-driven framework involving multiple reduction…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
We present an error-controlled mesh refinement procedure for needle insertion simulation and apply it to the simulation of electrode implantation for deep brain stimulation, including brain shift. Our approach enables to control the error…
In navigation activities, kinematic parameters of a mobile vehicle play a significant role. Odometry is most commonly used for dead reckoning. However, the unrestricted accumulation of errors is a disadvantage using this method. As a…
Weight pruning is an effective model compression technique to tackle the challenges of achieving real-time deep neural network (DNN) inference on mobile devices. However, prior pruning schemes have limited application scenarios due to…