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In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…
The load-area relation of rough surfaces is of great interest in tribology. For elastic-plastic solids with strain hardening, an incremental model is adopted to analyze the contact of rough surfaces, in which the contact is modeled by…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
We propose a novel way of computing surface folding maps via solving a linear PDE. This framework is a generalization to the existing quasiconformal methods and allows manipulation of the geometry of folding. Moreover, the crucial quantity…
We show that the theory of varifolds can be suitably enriched to open the way to applications in the field of discrete and computational geometry. Using appropriate regularizations of the mass and of the first variation of a varifold we…
4D printing of flat sheets that self-fold into architected 3D structures is a powerful origami-inspired approach for the fabrication of multi-functional devices and metamaterials. The possibility to endow the initially flat sheet with a…
We study the adhesion between a cross-linked elastomer and a flat solid surface where polymer chains have been end-grafted. To understand the adhesive feature of such a system, one has to study both the origin of the grafted layer…
We show that generic kinetic growth processes with surface relaxations can exhibit a new crumpled phase with short-range orientational order at dimensions $d<4$. A sufficiently strong spatially non-local part of the chemical potential…
A computationally efficient method is presented for approximate optimization of cutting pattern of frame-supported and pneumatic membrane structures. The plane cutting sheet is generated by minimizing the error from the shape obtained by…
In this paper, we deal with the gluing of two surfaces, where the gluing locus is assumed to be a curve. We consider a moving frame along the gluing locus, and define developable surfaces with respect to the frame. Considering geometric…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
We model numerically the partial normal contact of two elastic rough surfaces with highly correlated asperities. Facing surfaces are unmated and described as self-affine with a Hurst exponent H. The numerical algorithm is based on Fourier…
We study the problem of deciding whether a crease pattern can be folded by simple folds (folding along one line at a time) under the infinite all-layers model introduced by [Akitaya et al., 2017], in which each simple fold is defined by an…
Optimization of thin-walled structures like an aircraft wing, aircraft fuselage or submarine hull often involves dividing the shell surface into numerous localized panels, each characterized by its own set of design variables. The process…
Deformable surface tracking from monocular images is well-known to be under-constrained. Occlusions often make the task even more challenging, and can result in failure if the surface is not sufficiently textured. In this work, we…
Origami, the ancient art of folding thin sheets, has attracted increasing attention for its practical value in diverse fields: architectural design, therapeutics, deployable space structures, medical stent design, antenna design and…
We present a novel parabolic reflector system capable of generating a broader class of shapes beyond canonical parabolas. Using a discretized framework, we construct meshes corresponding to key families of developable surfaces, including…
We extend the study of finite-entanglement scaling from one-dimensional gapless models to two-dimensional systems with a Fermi surface. In particular, we show that the entanglement entropy of a contractible spatial region with linear size…