相关论文: Minimally Invasive Flexible Needle Manipulation Ba…
We present a computational method for open-loop minimum-norm control synthesis for fixed-endpoint transfer of bilinear ensemble systems that are indexed by two continuously varying parameters. We suppose that one ensemble parameter scales…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Deep learning inference that needs to largely take place on the 'edge' is a highly computational and memory intensive workload, making it intractable for low-power, embedded platforms such as mobile nodes and remote security applications.…
We propose a symbolic execution method for analyzing the safety of software under fault attacks both accurately and efficiently. Fault attacks leverage physically injected hardware faults in an embedded system to break the safety of a…
Memristive nanodevices offer new frontiers for computing systems that unite arithmetic and memory operations on-chip. Here, we explore the integration of electrochemical metallization cell (ECM) nanodevices with tunable filamentary…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…
A general approach to simulate the mechanical behavior of textile materials by taking into account all their constitutive elementary fibers and contacts between them is presented in this paper. A finite element code, based on an implicit…
Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners,…
The main objective of this study is to propose a methodology to build a parametric linear model of Flexible Multibody Systems for control design. This approach uses a combined Finite Element - State Space Approach based on component modes…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
A finite element method is introduced to track interface evolution governed by the level set equation. The method solves for the level set indicator function in a narrow band around the interface. An extension procedure, which is essential…
This paper considers a tracking control problem, in which the dynamic controller is encrypted with an additively homomorphic encryption scheme and the output of a process tracks a dynamic reference asymptotically. Our paper is motivated by…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
In recent years, the embedding approach for solving switched optimal control problems has been developed in a series of papers. However, the embedding approach, which advantageously converts the hybrid optimal control problem to a classical…
In this work, we introduce a new algorithm for N-to-M checkpointing in finite element simulations. This new algorithm allows efficient saving/loading of functions representing physical quantities associated with the mesh representing the…
An approach to the mechanical behaviour of textile composites at the scale of their constituting fibres, using an implicit finite element simulation code, is proposed in this chapter. The approach is based on efficient methods and…
We present a high-bandwidth, lightweight, and nonlinear output tracking technique for soft actuators that combines parsimonious recursive layers for forward output predictions and online optimization using Newton-Raphson. This technique…
In this work, possibility of simulating biological organs in realtime using the Boundary Element Method (BEM) is investigated. Biological organs are assumed to follow linear elastostatic material behavior, and constant boundary element is…