相关论文: Robotic Laser Orientation Planning with a 3D Data-…

Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making.…

Topology optimization, a technique to determine where material should be placed within a predefined volume in order to minimize a physical objective, is used across a wide range of scientific fields and applications. A general application…

The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…

Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…

In microsurgery, lasers have emerged as precise tools for bone ablation. A challenge is automatic control of laser bone ablation with 4D optical coherence tomography (OCT). OCT as high resolution imaging modality provides volumetric images…

Controlling molecular reactivity by shaped laser pulses is a long-standing goal in chemistry. Here we suggest a direct optimal control approach which combines external pulse optimization with other control parameters arising in the upcoming…

This paper investigates the problem of optimal predictor design for distributed parameter systems using neural networks and shape optimization. Sensors with various shapes are placed on the domain of the distributed parameter system. Data…

3D single-photon LiDAR imaging plays an important role in numerous applications. However, long acquisition times and significant data volumes present a challenge to LiDAR imaging. This paper proposes a task-optimized adaptive sampling…

This paper suggests a full protocol of Computer Aided Surgery as previously recommended in literature addressing the challenging task of primary or secondary reconstruction of orbito-zygomatic dislocation. First, on a specifically developed…

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…

Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…

Limited-angle tomography is a highly ill-posed linear inverse problem. It arises in many applications, such as digital breast tomosynthesis. Reconstructions from limited-angle data typically suffer from severe stretching of features along…

In this paper, we simultaneously address the problems of energy optimal and safe motion planning of electric vehicles (EVs) in a data-driven robust optimization framework. Safe maneuvers, especially in urban traffic, are characterized by…

The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…

In the article, we describe a trajectory planning problem for a 6-DOF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of…

In this work we propose tailored model order reduction for varying boundary optimal control problems governed by parametric partial differential equations. With varying boundary control, we mean that a specific parameter changes where the…

Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…

We consider an optimal flow control problem in a patient-specific coronary artery bypass graft with the aim of matching the blood flow velocity with given measurements as the Reynolds number varies in a physiological range. Blood flow is…

We develop and apply a novel shape optimization exemplified for a two-blade rotor with respect to the figure of merit ($FM$). This topologically assisted optimization (TAO) contains two steps. First a global evolutionary optimization is…

We introduce ScanBot, a novel dataset designed for instruction-conditioned, high-precision surface scanning in robotic systems. In contrast to existing robot learning datasets that focus on coarse tasks such as grasping, navigation, or…