Related papers: Topology Optimization with Accessibility Constrain…
Inverse design tools such as Topology Optimization (TO) can achieve new levels of improvement for high-performance engineered structures. However, widespread use is hindered by high computational times and a black-box nature that inhibits…
The discretization of constrained nonlinear optimization problems arising in the field of topology optimization yields algebraic systems which are challenging to solve in practice, due to pathological ill-conditioning, strong nonlinearity…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
Topology optimization of permanent magnet systems consisting of permanent magnets, high permeability iron and air is presented. An implementation of topology optimization for magnetostatics is discussed and three examples are considered.…
Modern manufacturing systems typically require high degrees of flexibility, in terms of ability to customize the production lines to the constantly changing market requests. For this purpose, manufacturing systems are required to be able to…
In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
Topology optimization methods face serious challenges when applied to structural design with fluid-structure interaction (FSI) loads, specially for high Reynolds fluid flow. This paper devises an explicit boundary method that employs…
This paper introduces a shape optimisation framework for achieving desired mutual inductances (MIs) among coils in 3D space. Utilising a wire modelling approach, the coils are discretised using B-spline curves, with control points (CPs)…
It is often the case that the computed optimal solution of an optimization problem cannot be implemented directly, irrespective of data accuracy, due to either (i) technological limitations (such as physical tolerances of machines or…
Topology optimization is able to maximally leverage the high DOFs and mechanical potentiality of porous foams but faces three fundamental challenges: conforming to free-form outer shapes, maintaining geometric connectivity between adjacent…
We propose a neural network-based approach to topology optimization that aims to reduce the use of support structures in additive manufacturing. Our approach uses a network architecture that allows the simultaneous determination of an…
Efficient thermal management in high-power electronic devices requires cooling channel designs that provide high heat removal while satisfying strict spatial and manufacturing constraints. This study presents a two-stage hierarchical…
This paper presents a highly efficient method to obtain high-resolution, near-optimal 3D topologies optimized for minimum compliance on a standard PC. Using an implicit geometry description we derive a single-scale interpretation of optimal…
We study certain topological problems that are inspired by applications to autonomous robot manipulation. Consider a continuous map $f\colon X\to Y$, where $f$ can be a kinematic map from the configuration space $X$ to the working space $Y$…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
In this paper we present a new GPU-oriented mesh optimization method based on high-order finite elements. Our approach relies on node movement with fixed topology, through the Target-Matrix Optimization Paradigm (TMOP) and uses a global…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
Topology optimization of modular structures and mechanisms enables balancing the performance of automatically-generated individualized designs, as required by Industry 4.0, with enhanced sustainability by means of component reuse. For…