Related papers: Quantifying the pathways to life using assembly sp…
This article provides numerical simulation of an optimal transport path from a single source to an atomic measure of equal total mass. We first construct an initial transport path, and then modify the path as much as possible by using both…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
3D printing enables the fabrication of complex architectures by automating long sequences of additive steps. The increasing sophistication of printers, materials, and generative design promises to make geometric complexity a non-issue in…
Large protein complexes are assembled from protein subunits to form a specific structure. In our theoretic work, we propose that assembly into the correct structure could be reliably achieved through an assembly line with a specific…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
Let $P$ be a simple polygon with $n$ vertices, and let $A$ be a set of $m$ points or line segments inside $P$. We develop data structures that can efficiently count the number of objects from $A$ that are visible to a query point or a query…
Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combinatorial assembly. Given the shape of the desired object, the…
We present a framework for automatically reconfiguring images of street scenes by populating, depopulating, or repopulating them with objects such as pedestrians or vehicles. Applications of this method include anonymizing images to enhance…
Given a quantum (or statistical) system with a very large number of degrees of freedom and a preferred tensor product factorization of the Hilbert space (or of a space of distributions) we describe how it can be approximated with a very…
Interactable objects are ubiquitous in our daily lives. Recent advances in 3D generative models make it possible to automate the modeling of these objects, benefiting a range of applications from 3D printing to the creation of robot…
In an impending urban age where the majority of the world's population will live in cities, it is critical that we improve our understanding of the strengths and limitations of existing city designs to ensure they are safe, clean, can…
Porous and heterogeneous materials are found in many applications from composites, membranes, chemical reactors, and other engineered materials to biological matter and natural subsurface structures. In this work we propose an integrated…
An object-oriented combinator chemistry was used to construct an artificial organism with a system architecture possessing characteristics necessary for organisms to evolve into more complex forms. This architecture supports modularity by…
We introduce a simple dynamical rule in which each particle locates a particle that is farthest from it and moves towards it. Repeated application of this algorithm results in the formation of unusual dynamical patterns: during the process…
The Internet of Things supports various industrial applications. The cooperation and coordination of smart things are a promising strategy for satisfying requirements that are beyond the capacity of a single smart thing. One of the major…
This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this…
Information geometry is used to quantify the amount of information integration within multiple terminals of a causal dynamical system. Integrated information quantifies how much information is lost when a system is split into parts and…
Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…
To build a safe system that would replicate and perhaps transcend human-level intelligence, three basic modules: objective, agent, and perception are proposed for development. The objective module would ensure that the system acts in…
Modern autonomous systems with machine learning components often use uncertainty quantification to help produce assurances about system operation. However, there is a lack of consensus in the community on what uncertainty is and how to…