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This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
A novel approach to expedite design optimization of nonlinear beam dynamics in storage rings is proposed and demonstrated in this study. At each iteration, a neural network surrogate model is used to suggest new trial solutions in a…
Isogeometric Analysis is a high-order discretization method for boundary value problems that uses a number of degrees of freedom which is as small as for a low-order method. Standard isogeometric discretizations require a global…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…
Parametric model order reduction (pMOR) is a powerful tool for accelerating finite element (FE) simulations while maintaining parametric dependencies. For geometric parameters, pMOR by matrix interpolation is a well-suited approach because…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…
In isogeometric analysis, isogeometric function spaces are employed for accurately representing the solution to a partial differential equation (PDE) on a parameterized domain. They are generated from a tensor-product spline space by…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…
We present a cut finite element method for shape optimization in the case of linear elasticity. The elastic domain is defined by a level-set function, and the evolution of the domain is obtained by moving the level-set along a velocity…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…
In this paper, the numerical approximation of isometric deformations of thin elastic shells is discussed. To this end, for a thin shell represented by a parametrized surface, it is shown how to transform the stored elastic energy for an…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
Ising machines, which are dynamical systems designed to operate in a parallel and iterative manner, have emerged as a new paradigm for solving combinatorial optimization problems. Despite computational advantages, the quality of solutions…
Rotating magnetic structures are common in astrophysics, from vortex tubes and tornados in the Sun all the way to jets in different astrophysical systems. The physics of these objects often combine inertial, magnetic, gas pressure and…
Electron tomography has been studied in various fields. Various methods have been developed to align projection sets to construct ideally focused reconstruction. In this paper, we present how to align the projection set to distinguish…
We explore extended B-splines as a stable basis for isogeometric analysis with trimmed parameter spaces. The stabilization is accomplished by an appropriate substitution of B-splines that may lead to ill-conditioned system matrices. The…
The two-dimentional (2D) separatrix shaping plays a crucial role in the confinement of the Field Reversed Configuration (FRC), and the magnetic coils serve as an effective means for its control. In this work we develop a method to optimize…