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Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth. Ideally, a robot trying to unfold a crumpled or folded cloth should be able to reason about the cloth's occluded…
Cylindrical Algebraic Decomposition (CAD) is a key tool in computational algebraic geometry, best known as a procedure to enable Quantifier Elimination over real-closed fields. However, it has a worst case complexity doubly exponential in…
Simulated annealing is an effective and general means of optimization. It is in fact inspired by metallurgy, where the temperature of a material determines its behavior in thermodynamics. Likewise, in simulated annealing, the actions that…
In this paper, we demonstrate the combination of machine learning and three dimensional numerical simulations for multi-objective optimization of low pressure die casting. The cooling of molten metal inside the mold is achieved typically by…
Spontaneous self-assembly of hard convex polyhedra are known to form orientationally disordered crystalline phases, where particle orientations do not follow the same pattern as the positional arrangement of the crystal. A distinct type of…
Node elimination is a numerical approach to obtain cubature rules for the approximation of multivariate integrals. Beginning with a known cubature rule, nodes are selected for elimination, and a new, more efficient rule is constructed by…
We contribute results for a set of fundamental problems in the context of programmable matter by presenting algorithmic methods for evaluating and manipulating a collective of particles by a finite automaton that can neither store…
Thinning is the removal of contour pixels/points of connected components in an image to produce their skeleton with retained connectivity and structural properties. The output requirements of a thinning procedure often vary with…
A triangulation of a surface is irreducible if there is no edge whose contraction produces another triangulation of the surface. In this work we propose an algorithm that constructs the set of irreducible triangulations of any surface with…
We consider the problem of cutting a set of edges on a polyhedral manifold surface, possibly with boundary, to obtain a single topological disk, minimizing either the total number of cut edges or their total length. We show that this…
We give a $O(n)$-time algorithm for determining whether translations of a polyomino with $n$ edges can tile the plane. The algorithm is also a $O(n)$-time algorithm for enumerating all such tilings that are also regular, and we prove that…
We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…
We present a method for fabricating general models with multi-directional 3D printing systems by printing different model regions along with different directions. The core of our method is a support-effective volume decomposition algorithm…
A sheared cube is made out of a cube by giving a shear to the body in one direction keeping one of the faces fixed. We investigate here the thermodynamic phase behavior of a family of such regular hard sheared cubes, each of the members of…
Recutting is an operation on planar polygons defined by cutting a polygon along a diagonal to remove a triangle, and then reattaching the triangle along the same diagonal but with opposite orientation. Recuttings along different diagonals…
The Calisson puzzle is a tiling puzzle in which one must tile a triangular grid inside a hexagon with lozenges, under the constraint that certain prescribed edges remain tile boundaries and that adjacent lozenges along these edges have…
Many images nowadays are captured from behind the glasses and may have certain stains discrepancy because of glass and must be processed to make differentiation between the glass and objects behind it. This research paper proposes an…
Unfolding, in the context of high-energy particle physics, refers to the process of removing detector distortions in experimental data. The resulting unfolded measurements are straightforward to use for direct comparisons between…
Automatic segmentation of an image to identify all meaningful parts is one of the most challenging as well as useful tasks in a number of application areas. This is widely studied. Selective segmentation, less studied, aims to use limited…
In this paper, we define the 3D printing routing problem, the problem of finding the optimal path of the nozzle in a fused deposition modeling 3D printing system, so as to minimize the time required to create on object. We formally model…