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In this paper, we examine the different measures of Fault Tolerance in a Distributed Simulated Annealing process. Optimization by Simulated Annealing on a distributed system is prone to various sources of failure. We analyse simulated…

Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…

Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of…

We present algorithms and results for a robotic manipulation system that was designed to be easily programmable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018…

We investigate automated in situ optimization of the potential landscape in a quantum point contact device, using a $3 \times 3$ gate array patterned atop the constriction. Optimization is performed using the covariance matrix adaptation…

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…

Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…

This paper uses robots to assemble pegs into holes on surfaces with different colors and textures. It especially targets at the problem of peg-in-hole assembly with initial position uncertainty. Two in-hand cameras and a force-torque sensor…

Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be…

We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while…

We develop a gradient-like algorithm to minimize a sum of peer objective functions based on coordination through a peer interconnection network. The coordination admits two stages: the first is to constitute a gradient, possibly with…

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…

The present work proposes an extension of the third medium contact method for solving structural topology optimization problems that involve and exploit self-contact. A new regularization of the void region, which acts as the contact…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

This work is motivated by the monitoring of conductive clogging deposits in steam generator at the level of support plates. One would like to use monoaxial coils measurements to obtain estimates on the clogging volume. We propose a 3D shape…

Ball bearing joints are a critical component in all rotating machinery, and detecting and locating faults in these joints is a significant problem in industry and research. Intelligent fault detection (IFD) is the process of applying…

A topology optimization problem in a phase field setting is considered to obtain rigid structures, which are resilient to external forces and constructable with additive manufacturing. Hence, large deformations of overhangs due to gravity…

Design optimization problems, e.g., shape optimization, that involve deformable bodies in unilateral contact are challenging as they require robust contact solvers, complex optimization methods that are typically gradient-based, and…

Non-Gaussian and multimodal distributions are an important part of many recent robust sensor fusion algorithms. In difference to robust cost functions, they are probabilistically founded and have good convergence properties. Since their…

We propose a novel and flexible roof modeling approach that can be used for constructing planar 3D polygon roof meshes. Our method uses a graph structure to encode roof topology and enforces the roof validity by optimizing a simple but…