Research
Research
Research
Research
38+ 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…
We introduce a U-net model for 360{\deg} acoustic source localization formulated as a spherical semantic segmentation task. Rather than regressing discrete direction-of-arrival (DoA) angles, our model…
Pancreatic cancer, which has a low survival rate, is one of the most challenging cancers to diagnose and treat effectively. Early detection through abdominal computed tomography (CT) scans is crucial,…
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…
Super-resolution, in-painting, whole-image generation, unpaired style-transfer, and network-constrained image reconstruction each include an aspect of machine-learned image synthesis where the actual …
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 …
Deep learning, particularly convolutional neural networks (CNNs) and Transformers, has significantly advanced 3D medical image segmentation. While CNNs are highly effective at capturing local features…
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…
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 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…
Additive Manufacturing (AM) has emerged as a manufacturing process that allows the direct production of samples from digital models. To ensure that quality standards are met in all manufactured sample…
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…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition bet…
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