Related papers: Optimal Design of Responsive Structures
This paper proposes an integrated design optimization framework for the gain schedules and bending filter for the longitudinal control of a rocket during its ascent flight. Dynamic models representing the pitch/yaw motion of a rocket…
Mechanism - collections of rigid elements coupled by perfect hinges which exhibit a zero-energy motion -- motivate the design of a variety of mechanical metamaterials. We significantly enlarge this design space by considering…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
This paper develops a comparative framework for the design of actuated inertial appendages for planar, aerial reorientation. We define the Inertial Reorientation template, the simplest model of this behavior, and leverage its linear…
In this work, we present an efficiently computational approach for designing material micro-structures by means of topology optimization. The central idea relies on using the isogeometric analysis integrated with the parameterized level set…
Architected materials can achieve enhanced properties compared to their plain counterparts. Specific architecting serves as a powerful design lever to achieve targeted behavior without changing the base material. Thus, the connection…
This text is about geometric structures imposed by robust dynamical behaviour. We explain recent results towards the classification of partially hyperbolic systems in dimension 3 using the theory of foliations and its interaction with…
We derive the revenue-optimal efficient (welfare-maximizing) mechanism in a general multidimensional mechanism design setting when type spaces -- that is, the underlying domains from which agents' values come from -- can capture arbitrarily…
Developing appropriate analytic-function-based constitutive models for new materials with nonlinear mechanical behavior is demanding. For such kinds of materials, it is more challenging to realize the integrated design from the collection…
This paper presents a density-based topology optimization approach considering additive manufacturing limitations. The presented method considers the minimum size of parts, the minimum size of cavities, the inability of printing overhanging…
From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
The present paper introduces a hybrid explicit-implicit topology optimization method for shell-infill composite structure design. The proposed approach effectively combines the advantages of the explicit Moving Morphable Component (MMC)…
In this paper, we present a framework for multiscale topology optimization of fluid-flow devices. The objective is to minimize dissipated power, subject to a desired contact-area. The proposed strategy is to design optimal microstructures…
Optimal Transport has recently gained interest in machine learning for applications ranging from domain adaptation, sentence similarities to deep learning. Yet, its ability to capture frequently occurring structure beyond the "ground…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
We consider design issues for toxicology studies when we have a continuous response and the true mean response is only known to be a member of a class of nested models. This class of non-linear models was proposed by toxicologists who were…
When electrically stimulated, electroactive polymers (EAPs) respond with mechanical deformation. The goal of this work is to design electrode and EAP layouts simultaneously in structures by using density-based, multi-material topology…
The geometric design of fully-actuated and omnidirectional N-rotor aerial vehicles is conventionally formulated as a parametric optimization problem, seeking a single optimal set of N orientations within a fixed architectural family. This…