Abstract-This paper presents a robust visual servoing approach for automatic guidance of an instrument. The visual sensor is an ultrasound probe that observes an instrument which is inserted into the beating heart of a patient and manipulated by a robot. The present paper provides stability analysis, robustification of the control law and an in vivo experiment.

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Design problems in engineering typically involve a large solution space and several potentially conflicting criteria. Selecting a compromise solution is often supported by optimization algorithms that compute hundreds of Pareto‐optimal solutions, thus informing a decision by the engineer. However, the complexity of evaluating and comparing alternatives increases with the number of criteria that need to be considered at the same time. We present a design study on Pareto front visualization to support engineers in applying their expertise and subjective preferences for selection of the most‐preferred solution. We provide a characterization of data and tasks from the parametric design of electric motors. The requirements identified were the basis for our development of PAVED, an interactive parallel coordinates visualization for exploration of multi‐criteria alternatives. We reflect on our user‐centered design process that included iterative refinement with real data in close collaboration with a domain expert as well as a summative evaluation in the field. The results suggest a high usability of our visualization as part of a real‐world engineering design workflow. Our lessons learned can serve as guidance to future visualization developers targeting multi‐criteria optimization problems in engineering design or alternative domains.

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For high-speed bearingless disk drives, certain topologies seem advantageous. The authors have published works on a bearingless disk drive for high speeds that is characterized by a slotless stator and a toroid winding set. Several different variations of this setup are imaginable. The ones which this paper focuses on are the variation of the number of phases, of the number of coils, and of the applied coil connection. A comparison of the constructed and tested setup with the possible variations is presented in the course of this paper.