Related papers: String Diagrams for Assembly Planning
Due to the increasing complexity seen in both workloads and hardware resources in state-of-the-art embedded systems, developing efficient real-time schedulers and the corresponding schedulability tests becomes rather challenging. Although…
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…
Hardware architectures and machine learning (ML) libraries evolve rapidly. Traditional compilers often fail to generate high-performance code across the spectrum of new hardware offerings. To mitigate, engineers develop hand-tuned kernels…
As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…
Many optimization problems can be naturally represented as (hyper) graphs, where vertices correspond to variables and edges to tasks, whose cost depends on the values of the adjacent variables. Capitalizing on the structure of the graph,…
To increase performance and efficiency, systems use FPGAs as reconfigurable accelerators. A key challenge in designing these systems is partitioning computation between processors and an FPGA. An appropriate division of labor may be…
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…
Model-based testing is a promising technology for black-box software and hardware testing, in which test cases are generated automatically from high-level specifications. Nowadays, systems typically consist of multiple interacting…
Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial…
Designing 3D objects from scratch is difficult, especially when the user intent is fuzzy without a clear target form. In the spirit of modeling-by-example, we facilitate design by providing reference and inspiration from existing model…
Symmetric monoidal categories (SMCs) are a common framework for reasoning about computation, focusing on the parallel and sequential compositionality of operations. String diagrams are a ubiquitous and powerful tool for reasoning about…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
Software design patterns present general code solutions to common software design problems. Modern software systems rely heavily on containers for running their constituent service components. Yet, despite the prevalence of ready-to-use…
Compound AI applications, composed from interactions between Large Language Models (LLMs), Machine Learning (ML) models, external tools and data sources are quickly becoming an integral workload in datacenters. Their diverse sub-components…
We propose a general framework for solving inverse self-assembly problems, i.e. designing interactions between elementary units such that they assemble spontaneously into a predetermined structure. Our approach uses patchy particles as…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
We propose a computational framework to quantify (measure) and to optimize the reliability of complex systems. The approach uses a graph representation of the system that is subject to random failures of its components (nodes and edges).…
We present a framework for generating physically realizable assembly instructions from natural language descriptions. Unlike unconstrained text-to-3D approaches, our method operates within a discrete parts vocabulary, enforcing geometric…
Physical products are often complex assemblies combining a multitude of 3D parts modeled in computer-aided design (CAD) software. CAD designers build up these assemblies by aligning individual parts to one another using constraints called…
This paper proposes a compositional modeling framework for the optimal energy management of a district network. The focus is on cooling of buildings, which can possibly share resources to the purpose of reducing maintenance costs and using…