Related papers: Satisfiability Modulo Theory based Methodology for…
We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
LECTURE GIVEN AT TH2002. Given a set of Boolean variables, and some constraints between them, is it possible to find a configuration of the variables which satisfies all constraints? This problem, which is at the heart of combinatorial…
We propose a novel way to integrate control techniques with reinforcement learning (RL) for stability, robustness, and generalization: leveraging contraction theory to realize modularity in neural control, which ensures that combining…
We highlight a general theory to engineer arbitrary Hermitian tight-binding lattice models in electrical LC circuits, where the lattice sites are replaced by the electrical nodes, connected to its neighbors and to the ground by capacitors…
In this paper, we present a new, graph-based modeling approach and a polynomial-sized linear programming (LP) formulation of the Boolean satisfiability problem (SAT). The approach is illustrated with a numerical example.
Reasoning about array data structures is a key requirement for many applications in hardware and software verification, especially in combination with machine integers. The Satisfiability Modulo Theories (SMT) theory of extensional arrays…
Latency Based Tiling provides a systems based approach to deriving approximate tiling solution that maximizes locality while maintaining a fast compile time. The method uses triangular loops to characterize miss ratio scaling of a machine…
Semi-parallel, or folded, VLSI architectures are used whenever hardware resources need to be saved at design time. Most recent applications that are based on Projective Geometry (PG) based balanced bipartite graph also fall in this…
In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…
We study a spatiotemporal service matching problem in which demand, heterogeneous in location and time sensitivity/preference, is to be assigned to service stations. The planner seeks to maximize social welfare, defined as total service…
Block copolymers provide a wonderful platform in studying the soft condensed matter systems. Many fascinating ordered structures have been discovered in bulk and confined systems. Among various theories, the self-consistent field theory…
For problems involving large deformations of thin structures, simulating fluid-structure interaction (FSI) remains challenging largely due to the need to balance computational feasibility, efficiency, and solution accuracy. Overlapping…
Modern high-performance computing architectures (Multicore, GPU, Manycore) are based on tightly-coupled clusters of processing elements, physically implemented as rectangular tiles. Their size and aspect ratio strongly impact the achievable…
In Verification and in (optimal) AI Planning, a successful method is to formulate the application as boolean satisfiability (SAT), and solve it with state-of-the-art DPLL-based procedures. There is a lack of understanding of why this works…
Decomposition of any Boolean Function BF_n of n binary inputs into an optimal inverter coupled network of Symmetric Boolean functions SF_k (k \leq n) is described. Each SF component is implemented by Threshold Logic Cells, forming a…
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
Models of confluent tissues are built out of tessellations of the space (both in two and three dimensions) in which the cost function is constructed in such a way that individual cells try to optimize their volume and surface in order to…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
Three-dimensional integrated circuits (3D ICs) have emerged as a promising solution to the scaling limits of two-dimensional designs, offering higher integration density, shorter interconnects, and improved performance. As design complexity…