Professor David Branson's Outputs (5)

Comparison of point cloud densification from multi-view stereo and 3D Gaussian splatting in industrial photogrammetry (2024)
Presentation / Conference Contribution
Yang, M. H., Isa, M. A., Thompson, A., Branson III, D. T., & Piano, S. (2024, October). Comparison of point cloud densification from multi-view stereo and 3D Gaussian splatting in industrial photogrammetry. Presented at 20th International Conference on Precision Engineering (ICPE 2024), Sendai, Japan

Photogrammetry is increasingly popular in the modern manufacturing industry, for performing non-contact fast optical measurements of manufactured components. During photogrammetry, the goal is to obtain accurate three-dimensional reconstructions of a... Read More about Comparison of point cloud densification from multi-view stereo and 3D Gaussian splatting in industrial photogrammetry.

An adaptive lumped-mass dynamic model and its control application for continuum robots (2024)
Journal Article
Zhang, X., Yang, C., Song, Z., Khanesar, M. A., Branson, D. T., Dai, J. S., & Kang, R. (2024). An adaptive lumped-mass dynamic model and its control application for continuum robots. Mechanism and Machine Theory, 201, Article 105736. https://doi.org/10.1016/j.mechmachtheory.2024.105736

Dynamic modeling for continuum robots remains challenging due to their large nonlinear deformation and the variation of dynamic parameters during movement. In this paper, a lumped-mass dynamic model (LMD) for a continuum robot is constructed includin... Read More about An adaptive lumped-mass dynamic model and its control application for continuum robots.

Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer (2024)
Journal Article
Khanesar, M. A., Yan, M., Karaca, A., Isa, M., Piano, S., & Branson, D. (2024). Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer. Energies, 17(14), Article 3434. https://doi.org/10.3390/en17143434

The output processer of interval type-2 fuzzy logic systems (IT2FLSs) is a complex operator which performs type-reduction plus defuzzification (TR+D) tasks. In this paper, a complexity-reduced yet high-performance TR+D for IT2FLSs based on Maclaurin... Read More about Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer.

A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers (2024)
Journal Article
Li, C., Yang, S., Branson, D. T., Song, Z., Sun, T., Dai, J. S., & Kang, R. (2024). A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers. Mechanism and Machine Theory, 201, Article 105730. https://doi.org/10.1016/j.mechmachtheory.2024.105730

Variable stiffness actuators (VSAs) have emerged as a key actuation technology known for their bionic performance and task adaptability. However, current VSAs often exhibit relatively large sizes, making them possible for use in robotic arms and legs... Read More about A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers.

Design and control of a compliant robotic actuator with parallel spring-damping transmission (2024)
Journal Article
Yuan, P., Liu, J., Branson, D. T., Song, Z., Wu, S., Dai, J. S., & Kang, R. (2024). Design and control of a compliant robotic actuator with parallel spring-damping transmission. Robotica, 42(4), 1113–1133. https://doi.org/10.1017/S0263574724000110

Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits t... Read More about Design and control of a compliant robotic actuator with parallel spring-damping transmission.