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This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
This work presents a unified framework that combines global approximations with locally built models to handle challenging nonconvex and nonsmooth composite optimization problems, including cases involving extended real-valued functions. We…
In 2010, Vershik proposed a new combinatorial invariant of metric spaces given by a class of polytopes that arise in the theory of optimal transport and are called ``Wasserstein polytopes'' or ``Kantorovich-Rubinstein polytopes'' in the…
The paper describes the first exact results in optimal design of three-phase elastic structures. Two isotropic materials, the "strong" and the "weak" one, are laid out with void in a given two-dimensional domain so that the compliance plus…
A composite conductive material, which consists of fibers of a high conductivity in a matrix of low conductivity, is discussed. The effective conductivity of the system considered is calculated in Clausius-Mossotti approximation. Obtained…
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes…
In the manufacturing process of a filler-reinforced composite, the fillers in the matrix are aligned due to the shear flow occurring during the drawing stage, and the interface between the matrix and the fillers form various imperfections…
This contribution investigates the extension of the microplane formulation to the description of transversely isotropic materials such as shale rock, foams, unidirectional composites, and ceramics. Two possible approaches are considered: 1)…
A method is presented for approximating the effective conductivity of composite media with thin interphase regions, which is exact to first order in the interphase thickness. The approximations are computationally efficient in the sense the…
We consider a linearly elastic composite medium, which consists of a homogeneous matrix containing a statistically homogeneous set of multimodal spherical inclusions modeling the morphology of heterogeneous solid propellants (HSP).…
In conductor-insulator composites in which the conducting particles are dispersed in an insulating continuous matrix the electrical connectedness is established by interparticle quantum tunneling. A recent formulation of the transport…
In this paper, we prove that the $3$-sphere endowed with an arbitrary Riemannian metric either contains at least two embedded minimal $2$-spheres or admits an optimal foliation by $2$-spheres. This generalizes recent results by…
The relationship between effective conductivity and cell structure of polyethylene/carbon composites as well as between effective conductivity and spatial distribution of carbon black are discussed. Following Yoshida's model both structures…
This work presents a comprehensive three-dimensional third-medium contact framework for modeling complex contact interactions in hyperelastic solids and pneumatically actuated systems. The proposed third-medium formulation embeds a…
Two different formalisms for the homogenization of composite materials containing ellipsoidal inclusions based on Bruggeman's original formula for spherical inclusions can be found in the literature. Both approximations determine the…
Unlike hard materials such as metals and ceramics, rubbery materials can endure large deformations due to the large conformational degree of freedom of the crosslinked three-dimensional polymer network. However, the effect of the branching…
Finite element analysis has been used successfully to estimate the effective properties of many types of composites. The prediction of effective elastic moduli of polymer-bonded explosives provides a new challenge. These particulate…
``Rubber'' coated rolling bodies satisfy a no-twist in addition to the no slip satisfied by ``marble'' coated bodies. Rubber rolling has an interesting differential geometric appeal because the geodesic curvatures of the curves on the…
Nanostructured and architectured copper niobium composite wires are excellent candidates for the generation of intense pulsed magnetic fields (>90T) as they combine both high strength and high electrical conductivity. Multi-scaled Cu-Nb…
An elastic cloak hides a hole or an inhomogeneity from elastic fields. In this paper, a formulation of the optimal design of elastic cloaks based on the adjoint state method, in which the balance of linear momentum is enforced as a…