相关论文: Vibration Compensation of Delta 3D Printer with Po…
We present a method for fabricating general models with multi-directional 3D printing systems by printing different model regions along with different directions. The core of our method is a support-effective volume decomposition algorithm…
3D printing methods which enable control over the position and orientation of embedded particles have promising applications in cell patterning and composite scaffolds. Extrusion-based additive manufacturing techniques such as fused…
Digital controllers have several advantages with respect to their flexibility and design's simplicity. However, they are subject to problems that are not faced by analog controllers. In particular, these problems are related to the finite…
In this paper, the finite element method is combined with the Brownian Configuration Field (BFC) method to simulate the fibre suspension flow in axisymmetric contraction and expansion passages. In order to solve for the high stress at high…
The layering approach used in fused filament fabrication (FFF) enables creation of complex designs generated by topology optimization. Defects associated with the layer-by-layer process, introduce considerable random variability to the…
Vibration suppression is an important capability for collaborative robots deployed in challenging environments such as construction sites. We study the active suppression of vibration caused by external sources such as power tools. We adopt…
Paints and coatings often feature interfacial defects due to disturbances during the deposition process which, if they persist until solidification, worsen the product quality. In this article, we investigate the stability of a thin liquid…
This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots,…
We consider distributed optimization problems in which a group of agents are to collaboratively seek the global optimum through peer-to-peer communication networks. The problem arises in various application areas, such as resource…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
This paper presents an $\mathcal{H}_2 / \mathcal{H}_\infty$ minimization-based output-feedback controller for active aeroelastic vibration suppression in a cantilevered beam. First, a nonlinear structural model incorporating moderate…
We present a pipeline for printing interactive and always-on magnetophoretic displays using affordable Fused Deposition Modeling (FDM) 3D printers. Using our pipeline, an end-user can convert the surface of a 3D shape into a matrix of…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…
High-dimensional motion generation requires numerical precision for smooth, collision-free solutions. Typically, double-precision or single-precision floating-point (FP) formats are utilized. Using these for big tensors imposes a strain on…
Dense 3D convolutions provide high accuracy for perception but are too computationally expensive for real-time robotic systems. Existing tri-plane methods rely on 2D image features with interpolation, point-wise queries, and implicit MLPs,…
The advent of 3D printing has revolutionized many industries and has had similar improvements for soft robots. However, many challenges persist for these functional devices. Magnetic soft robots require the addition of magnetic particles…
Numerical simulations have become a cornerstone technology in the development of nanophotonic devices. Specifically, 3D finite difference time domain (FDTD) simulations are a widely used due to their flexibility and powerful design…
Fiber-optic sensing, especially distributed optical fiber vibration (DVS) sensing, is gaining importance in internet of things (IoT) applications, such as industrial safety monitoring and intrusion detection. Despite their wide application,…
The objective of this research is to mitigate vibrations in induction motors. To achieve this goal, a discontinuous pulse width modulation (PWM) control strategy based on carrier wave modulation is proposed for multilevel inverters. This…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…