Related papers: SFCDecomp: Multicriteria Optimized Tool Path Plann…
This paper investigates the multi-GPU performance of a 3D buoyancy driven cavity solver using MPI and OpenACC directives on different platforms. The paper shows that decomposing the total problem in different dimensions affects the strong…
In recent years, the usefulness of 3D shape estimation is being realized in microscopic or close-range imaging, as the 3D information can further be used in various applications. Due to limited depth of field at such small distances, the…
We introduce Curvy-an interactive design tool to generate varying density support structures for 3D printing. Support structures are essential for printing models with extreme overhangs. Yet, they often cause defects on contact areas,…
We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…
We propose a numerical pipeline for shape optimization in naval engineering involving two different non-intrusive reduced order method (ROM) techniques. Such methods are proper orthogonal decomposition with interpolation (PODI) and dynamic…
Existing curved-layer-based process planning methods for multi-axis manufacturing address collisions only indirectly and generate toolpaths in a post-processing step, leaving toolpath geometry uncontrolled during optimization. We present an…
Forward uncertainty quantification in dynamical systems is challenging due to non-smooth or locally oscillating nonlinear behaviors. Spline dimensional decomposition (SDD) addresses such nonlinearity by partitioning input coordinates via…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
Path planning algorithms fundamentally aim to compute collision-free paths, with many works focusing on finding the optimal distance path. However, for several applications, a more suitable approach is to balance response time, path safety,…
In industrial inspection and component alignment tasks, template matching requires efficient estimation of a target's position and geometric state (rotation and scaling) under complex backgrounds to support precise downstream operations.…
The necessary decarbonization efforts in energy sectors entail the integration of flexibility assets, as well as increased levels of uncertainty for the planning and operation of power systems. To cope with this in a cost-effective manner,…
We consider a spectrum of geometric optimization problems motivated by contexts such as satellite communication and astrophysics. In the problem Minimum Scan Cover with Angular Costs, we are given a graph $G$ that is embedded in Euclidean…
Motion planning and control problems are embedded and essential in almost all robotics applications. These problems are often formulated as stochastic optimal control problems and solved using dynamic programming algorithms. Unfortunately,…
Finding the optimal design of a hydrodynamic or aerodynamic surface is often impossible due to the expense of evaluating the cost functions (say, with computational fluid dynamics) needed to determine the performances of the flows that the…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
Finite element methods usually construct basis functions and quadrature rules for multidimensional domains via tensor products of one-dimensional counterparts. While straightforward, this approach results in integration spaces larger than…
A tunable stiffness bone rod was designed, optimized, and 3D printed to address the common shortcomings of existing bone rods in the healing of long fractured bones. The common deficiencies of existing bone fixations are high stiffness,…
Currently, path planning algorithms are used in many daily tasks. They are relevant to find the best route in traffic and make autonomous robots able to navigate. The use of path planning presents some issues in large and dynamic…