Research
Research
Research
Research
31+ open-access research outputs.
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the compani…
This paper presents an adaptive sampling algorithm tailored for the optimization of parametrized dynamical systems using projection-based model order reduction. Unlike classical sampling strategies, t…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, a…
Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic environment of the colon r…
In [1], a new modeling paradigm for developing rate-and-state-dependent, control-oriented friction models was introduced. The framework, termed Friction with Bristle Dynamics (FrBD), combines nonlinea…
Computational materials discovery relies on the generation of plausible crystal structures. The plausibility is typically judged through density functional theory methods which, while typically accura…
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differential equation (PDE…
The Polar Mellin Transform (PMT) is a well-known technique that converts images into shift, scale and rotation invariant signatures for object detection using opto-electronic correlators. However, thi…
Transcranial Electrical Stimulation (tES) is a neuromodulation technique that utilizes electrodes on the scalp to stimulate target brain regions. tES has shown promise in treating many neurological co…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While t…
We present a novel framework for the probabilistic modelling of random fourth order material tensor fields, with a focus on tensors that are physically symmetric and positive definite (SPD), of which …
The term safety in robotics is often understood as a synonym for avoidance. Although this perspective has led to progress in path planning and reactive control, a generalization of this perspective is…
A sum of lognormal random variables (RVs) appears in many problems of science and engineering. For example, it is invloved in computing the distribution of recevied signal and interference powers for …
We present a novel ship wake simulation system for generating S-band Synthetic Aperture Radar (SAR) images, and demonstrate the use of such imagery for the classification of ships based on their wake …
We experimentally evaluated the accuracy with which material properties can be estimated through object compression by two standard parallel jaw grippers and a force/torque sensor mounted at the robot…
Space situational awareness demands efficient monitoring of terrestrial sites and celestial bodies, necessitating advanced target recognition systems. Current target recognition systems exhibit limite…
In order to fully harness the potential of dielectric elastomer actu-ators (DEAs) in soft robots, advanced control methods are need-ed. An important groundwork for this is the development of a control…
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the ex…
We can estimate the size of the speakers based on their speech sounds alone. We had proposed an auditory computational theory of the Stabilised Wavelet-Mellin Transform (SWMT), which segregates inform…
Laboratories are being increasingly automated. In small laboratories individual processes can be fully automated, but this is usually not economically viable. Nevertheless, individual process steps ca…
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