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Impact Force Localization and Reconstruction via ADMM-based Sparse Regularization Method
In practice, simultaneous impact localization and time history reconstruction can hardly be achieved, due to the ill-posed and under-determined...
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Investigation of dry sliding wear characteristics of Al 7075 reinforced with SiC-graphite hybrid composites: multi-parameter optimization using grey relational analysis
Metal matrix composites made of aluminium and ceramics reinforced with silicon carbide (SiC) have desirable mechanical characteristics. On the other...
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Effect of laser heating on mechanical strength of carbon fiber–reinforced nylon in fused filament fabrication
Fused filament fabrication (FFF) has become the preferred method for 3D printing of thermoplastic polymer parts due to its cost-effectiveness in...
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Experimental implementation of skeleton tracking for collision avoidance in collaborative robotics
Collaborative robotic manipulators can stop in case of a collision, according to the ISO/TS 15066 and ISO 10218-1 standards. However, in a...
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Collision Free Motion Planning on Graphs
A topological theory initiated in [4,5] uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion...
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Computing Protein Structures from Electron Density Maps: The Missing Fragment Problem
Rapid protein structure determination relies greatly on the availability of software that can automatically generate a protein model from an...
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Pareto Optimal Coordination on Roadmaps
Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for...
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Coordinating Multiple Droplets in Planar Array Digital Microfluidics System
This paper presents an approach to coordinate the motions of droplets in digital microfluidic systems used for biochemical analysis. A digital...
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Semi-Differential Invariants for Recognition of Albebraic Curves
This paper studies the recognition of low-degree polynomial curves based on minimal tactile data. Differential and semi-differential invariants have...
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Computing Deform Closure Grasps
In prior work, we extended the well-known form closure grasp framework for rigid parts to a class of deformable parts, modeled as frictionless...
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Uniform Coverage of Simple Surfaces Embedded in $\mathbb{R}^3$ for Auto-Body Painting
We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit...
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Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints
Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of...
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4 Compositional Modelling of Distributed-Parameter Systems
The Hamiltonian formulation of distributed-parameter systems has been a challenging reserach area for quite some time. (A nice introduction,...
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2 Observer Design for Nonlinear Systems
In this chapter, an overview of main observability problems and possible observer designs for nonlinear systems is proposed. In particular the...
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A On the Literature’s Two Different Definitions of Uniform Global Asymptotic Stability for Nonlinear Systems
In this appendix we discuss two different deffnitions of uniform global asymptotic stability (UGAS), both used in the literature. In the first one,...
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Statistical Recognition of Motion Patterns
One key prerequisite for a machine to interact intelligently with people is its ability to recognize humans as interaction partners and to understand...
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The Control Architecture of Care-O-bot II
Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control their...
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Robotic Home Assistant Care-O-bot II
Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these...
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Next Generation Teach Pendants for Industrial Robots
Teach pendants for industrial robots have sometimes been quite rudimentary in the past, and often enough users had to learn to cope with whatever is...
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6 The Modified Taught Data Method
In order to realize the movement of an industrial robot, the given objective trajectory is always used without any change when their coordinate...