Related papers: Tilt Assembly: Algorithms for Micro-Factories That…
We present fast simulation methods for the self-assembly of complex shapes in two dimensions. The shapes are modeled via a general boundary curve and interact via a standard volume term promoting overlap and an interpenetration penalty. To…
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to…
We study the problems of covering or partitioning a polygon $P$ (possibly with holes) using a minimum number of small pieces, where a small piece is a connected sub-polygon contained in an axis-aligned unit square. For covering, we seek to…
We study a two-dimensional generalization of the classical Bin Packing problem, denoted as 2D Demand Bin Packing. In this context, each bin is a horizontal timeline, and rectangular tasks (representing electric appliances or computational…
Cutting and packing problems arise in a large variety of industrial applications, where there is a need to cut pieces from a large object, or placing them inside a containers, without overlap. When the pieces or the containers have…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Reconstructing a composition (union) of convex polytopes that perfectly fits the corresponding input point-cloud is a hard optimization problem with interesting applications in reverse engineering and rigid body dynamics simulations. We…
In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…
This paper presents PyCAALP (Python-based Computer-Aided Assembly Line Planning), a framework for automated Assembly Sequence Planning (ASP) and Production Line Planning (PLP), employing a graph-based approach to model components and joints…
Topology optimization (TO) in two dimensions often presents a trade-off between structural performance and manufacturability, with unpenalized (variable-thickness) methods yielding superior but complex designs, and penalized (SIMP) methods…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
Architected materials derive their properties from the geometric arrangement of their internal structural elements. Their designs rely on continuous networks of members to control the global mechanical behavior of the bulk. Here, we…
Given a set of squares and a strip of bounded width and infinite height, we consider a square strip packaging problem, which we call the square independent packing problem (SIPP), to minimize the strip height so that all the squares are…
Winfree's abstract Tile Assembly Model (aTAM) is a model of molecular self-assembly of DNA complexes known as tiles, which float freely in solution and attach one at a time to a growing "seed" assembly based on specific binding sites on…
We study ROUND-UFP and ROUND-SAP, two generalizations of the classical BIN PACKING problem that correspond to the unsplittable flow problem on a path (UFP) and the storage allocation problem (SAP), respectively. We are given a path with…
The contactless selective manipulation of individual objects at the microscale is powerfully enabled by acoustical tweezers based on acoustical vortices [Baudoin et al., Sci. Adv., 5:eaav1967 (2019)]. Nevertheless, the ability to assemble…
The problem that we consider is the following: given an $n \times n$ array $A$ of positive numbers, find a tiling using at most $p$ rectangles (which means that each array element must be covered by some rectangle and no two rectangles must…
In this paper we study the {\it bilinear assignment problem} (BAP) with size parameters $m$ and $n$, $m\leq n$. BAP is a generalization of the well known quadratic assignment problem and the three dimensional assignment problem and hence…
Recently increasing penetration of renewable energy generation brings challenges for power system operators to perform efficient power generation daily scheduling, due to the intermittent nature of the renewable generation and discrete…
We show the first asymptotically efficient constructions in the so-called "noncooperative planar tile assembly" model. Algorithmic self-assembly is the study of the local, distributed, asynchronous algorithms ran by molecules to…