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This work explores a spatial printing method to fabricate continuous fiber-reinforced thermoplastic composites (CFRTPCs), which can achieve exceptional mechanical performance. For models giving complex 3D stress distribution under loads,…
Additive manufacturing builds physical objects by accumulating layers upon layers of solidified material. This process is typically done with horizontal planar layers. However, fused filament printers have the capability to extrude material…
This paper proposes a cell decomposition algorithm for binary occupancy grids that ensures mutual complete visibility from each cell to at least one adjacent cell. This decomposition establishes a simplified framework for verifying path…
Motivated by the idea of turbomachinery active subspace performance maps, this paper studies dimension reduction in turbomachinery 3D CFD simulations. First, we show that these subspaces exist across different blades---under the same…
In this paper, we investigate the problem of decomposing 2D environments for robot coverage planning. Coverage path planning (CPP) involves computing a cost-minimizing path for a robot equipped with a coverage or sensing tool so that the…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
We present an efficient task and motion replanning approach for sequential multi-object manipulation in dynamic environments. Conventional Task And Motion Planning (TAMP) solvers experience an exponential increase in planning time as the…
Shape optimization is a challenging task in many engineering fields, since the numerical solutions of parametric system may be computationally expensive. This work presents a novel optimization procedure based on reduced order modeling,…
We present a new framework for solving general topology optimization (TO) problems that find an optimal material distribution within a design space to maximize the performance of a structure while satisfying design constraints. These…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
Efficient optimization of topology and raster angle has shown unprecedented enhancements in the mechanical properties of 3D printed materials. Topology optimization helps reduce the waste of raw material in the fabrication of 3D printed…
This paper deals with combination of two modern engineering methods in order to optimise the shape of a representative casting product. The product being analysed is a sling, which is used to attach pulling rope in timber transportation.…
Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…
3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
In this paper, we define the 3D printing routing problem, the problem of finding the optimal path of the nozzle in a fused deposition modeling 3D printing system, so as to minimize the time required to create on object. We formally model…
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…
We propose OptCtrlPoints, a data-driven framework designed to identify the optimal sparse set of control points for reproducing target shapes using biharmonic 3D shape deformation. Control-point-based 3D deformation methods are widely…
The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search over a continuous configuration space, carried out by a…
We consider the problem of finding a continuous and non-rigid matching between a 2D contour and a 3D mesh. While such problems can be solved to global optimality by finding a shortest path in the product graph between both shapes, existing…