Research
Research
Research
Research
35+ open-access research outputs.
Gaussian basis functions provide an efficient and flexible alternative to spline activations in KANs. In this work, we introduce the partition-of-unity Gaussian KAN (PU-GKAN), a Shepard-type normalize…
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…
Modern unmanned aerial vehicle threats require sophisticated interception strategies that can overcome advanced evasion capabilities and operate effectively in contested environments. Traditional sing…
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…
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 …
Inpainting-based codecs store sparse selected pixel data and decode by reconstructing the discarded image parts by inpainting. Successful codecs (coders and decoders) traditionally use inpainting oper…
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…
As a result of the progressive implantation of the Industry 4.0 paradigm, many industries are experimenting a revolution that shipyards cannot ignore. Therefore, the application of the principles of I…
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…
In this paper, we consider improving the efficiency of information-based autonomous robot exploration in unknown and complex environments. We first utilize Gaussian process (GP) regression to learn a …
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct dept…
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…
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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