Related papers: Designing Volumetric Truss Structures
So-called "classification trimmed likelihood curves" have been proposed as a useful heuristic tool to determine the number of clusters and trimming proportion in trimming-based robust clustering methods. However, these curves needs a…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Biological structural designs in nature, like hoof walls, horns, and antlers, can be used as inspiration for generating structures with excellent mechanical properties. A common theme in these designs is the small percent porosity in the…
In this paper, deterministic and robust design optimizations of a permanent magnet assisted synchronous reluctance machine were performed to increase its mean torque while reducing torque ripple. These optimizations were carried out using a…
The geometric optimization of crystal structures is a procedure widely used in Chemistry that changes the geometrical placement of the particles inside a structure. It is called structural relaxation and constitutes a local minimization…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
Materials that are lightweight yet exhibit superior mechanical properties are of compelling importance for several technological applications that range from aircrafts to household appliances. Lightweight materials allow energy saving and…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
Using linearized elasticity as a convenient mechanical framework, we show that volumetric growth can be formulated as an optimization-driven process in which the growth tensor is determined implicitly by constrained optimization rather than…
We analyze the convergence rate of various momentum-based optimization algorithms from a dynamical systems point of view. Our analysis exploits fundamental topological properties, such as the continuous dependence of iterates on their…
Acoustic transparency is the capability of a medium to transmit mechanical waves to adjacent media, without scattering. This characteristic can be achieved by carefully engineering the acoustic impedance of the medium -- a combination of…
In this paper, we propose a variationally consistent technique for decreasing the maximum eigenfrequencies of structural dynamics related finite element formulations. Our approach is based on adding a symmetric positive-definite term to the…
Advances in manufacturing techniques may now realize virtually any imaginable microstructures, paving the way for architected materials with properties beyond those found in nature. This has lead to a quest for closing gaps in…
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for…
The volumetric stretch energy has been widely applied to the computation of volume-/mass-preserving parameterizations of simply connected tetrahedral mesh models. However, this approach still lacks theoretical support. In this paper, we…
Structural stiffness plays an important role in engineering design. The analysis of stiffness requires precise experiments and computational models that can be difficult or time-consuming to procure. A novel relation between modal and…
Process flexibility is widely adopted as an effective strategy for responding to uncertain demand. Many algorithms for constructing sparse flexibility designs with good theoretical guarantees have been developed for balanced and symmetrical…
We propose a volumetric formulation for computing the Optimal Transport problem defined on surfaces in $\mathbb{R}^3$, found in disciplines like optics, computer graphics, and computational methodologies. Instead of directly tackling the…
In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots…
Engineering design is traditionally performed by hand: an expert makes design proposals based on past experience, and these proposals are then tested for compliance with certain target specifications. Testing for compliance is performed…