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Geometric variability increases performance variability and degrades the mean performance of turbomachinery compressor blades. These detrimental effects can be reduced by using robust optimization to design the blade geometry or by imposing…
The complex physics and numerous failure modes of structural impact creates challenges when designing for impact resistance. While simple geometries of layered material are conventional, advances in 3D printing and additive manufacturing…
As convolution has empowered many smart applications, dynamic convolution further equips it with the ability to adapt to diverse inputs. However, the static and dynamic convolutions are either layout-agnostic or computation-heavy, making it…
Active fault tolerance is essential for robot swarms to retain long-term autonomy. Previous work on swarm fault tolerance focuses on reacting to electro-mechanical faults that are spontaneously injected into robot sensors and actuators.…
To continue scaling beyond 2-D CMOS with 3-D integration, any new 3-D IC technology has to be comparable or better than 2-D CMOS in terms of scalability, enhanced functionality, density, power, performance, cost, and reliability.…
Time-varying meshes, characterized by dynamic connectivity and varying vertex counts, hold significant promise for applications such as augmented reality. However, their practical utilization remains challenging due to the substantial data…
Irreversible logic circuits dissipate heat for every bit of information that is lost. Information is lost when the input vector cannot be recovered from its corresponding output vector. Reversible logic circuit naturally takes care of…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
The reliability of erasure-coded distributed storage systems, as measured by the mean time to data loss (MTTDL), depends on the repair bandwidth of the code. Repair-efficient codes provide reliability values several orders of magnitude…
The high overhead of fault-tolerant measurement sequences (FTMSs) poses a major challenge for implementing quantum stabilizer codes. Here, we address this problem by constructing efficient FTMSs for the class of quantum Hamming codes…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
Rigged 3D assets are fundamental to 3D deformation and animation. However, existing 3D generation methods face challenges in generating animatable geometry, while rigging techniques lack fine-grained structural control over skeleton…
In topology optimization, the treatment of stress constraints for very large scale problems has so far not been tractable due to the failure of robust agglomeration methods, i.e. their inability to accurately handle the locality of the…
A computationally efficient method to solve non-convex programming problems with linear equality constraints is presented. The proposed method is based on a recursively feasible and descending sequential convex programming procedure proven…
Vision Transformers (ViTs) have demonstrated superior performance over Convolutional Neural Networks (CNNs) in various vision-related tasks such as classification, object detection, and segmentation due to their use of self-attention…
An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over…
This paper presents a density-based topology optimization method for designing 3D thin-walled structures with adaptive meshing. Uniform wall thickness is achieved by simultaneously constraining the minimum and maximum feature sizes using…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Dual-system UAVs with vertical take-off and landing capabilities have become increasingly popular in recent years. As a safety-critical system, it is important that a dual-system UAV can maintain safe flight after faults/failures occur.…
Lattice structures have been widely used in various applications of additive manufacturing due to its superior physical properties. If modeled by triangular meshes, a lattice structure with huge number of struts would consume massive…