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The present work is concerned with the shape optimization of flapping wings in forward flight. The analysis is performed by combining a gradient-based optimizer with the unsteady vortex lattice method (UVLM). We describe the UVLM…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…
Parts fabricated by additive manufacturing (AM) are often fabricated first as a near-net shape, a combination of intended nominal geometry and sacrificial support structures, which need to be removed in a subsequent post-processing stage…
This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…
This paper studies the parameter tuning problem of positive linear systems for optimizing their stability properties. We specifically show that, under certain regularity assumptions on the parametrization, the problem of finding the…
This research delves into optimizing mechanism design, with an emphasis on the energy efficiency and the expansive design possibilities of reciprocating mechanisms. It investigates how to efficiently integrate Computer-Aided Design (CAD)…
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enforce the dynamic model as a constraint. However, we show…
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
The development of active metasurface systems, such as lasing metasurfaces, requires the optimization of multiple modes at the absorption and lasing wavelength bands, including their quality factor, mode profile and angular dispersion.…
We investigate robust optimization problems defined for maximizing convex functions. For finite uncertainty set, we develop a geometric branch-and-bound algorithmic approach to solve this problem. The geometric branch-and-bound algorithm…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Design optimisation potentially leads to lightweight aircraft structures with lower environmental impact. Due to the high number of design variables and constraints, these problems are ordinarily solved using gradient-based optimisation…
An important new trend in additive manufacturing is the use of optimization to automatically design industrial objects, such as beams, rudders or wings. Topology optimization, as it is often called, computes the best configuration of…
Hardware heterogeneity across diverse user devices poses new challenges for beam-based communication in 5G and beyond. This heterogeneity limits the applicability of machine learning (ML)-based algorithms. This article highlights the…