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In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
Topological loss based on persistent homology has shown promise in various applications. A topological loss enforces the model to achieve certain desired topological property. Despite its empirical success, less is known about the…
We describe the implementation of a topological constraint in finite element simulations of phase field models which ensures path-connectedness of preimages of intervals in the phase field variable. Two main applications of our method are…
Cooperativity is a hallmark of proteins, many of which show a modular architecture comprising discrete structural domains. Detecting and describing dynamic couplings between structural regions is difficult in view of the many-body nature of…
Multi-stable mechanical structures find cutting-edge applications across various domains due to their reconfigurability, which offers innovative possibilities for engineering and technology advancements. This study explores the emergence of…
Recent experiments and simulations have demonstrated that particle-covered interfaces can exist in stable non-spherical shapes as a result of the steric jamming of the interfacially trapped particles, which confers the interface with…
The paper presents a topology optimization approach that designs an optimal structure, called a self-supporting structure, which is ready to be fabricated via additive manufacturing without the usage of additional support structures. Such…
This paper proposes a computational framework for the design optimization of stable structures under large deformations by incorporating nonlinear buckling constraints. A novel strategy for suppressing spurious buckling modes related to…
Topological Interlocking assemblies are arrangements of blocks kinematically constrained by a fixed frame, such that all rigid body motions of each block are constrained only by its permanent contact with other blocks and the frame. In the…
Feature-mapping methods for topology optimization (FMTO) facilitate direct geometry extraction by leveraging high-level geometric descriptions of the designs. However, FMTO often relies solely on Boolean unions, which can restrict the…
Persistent homology analysis provides means to capture the connectivity structure of data sets in various dimensions. On the mathematical level, by defining a metric between the objects that persistence attaches to data sets, we can…
Co-manipulation requires multiple humans to synchronize their motions with a shared object while ensuring reasonable interactions, maintaining natural poses, and preserving stable states. However, most existing motion generation approaches…
Integration of renewable resources is profoundly reshaping the dynamics of modern power systems. This study shows that the voltage dynamics of power systems with multiple grid-forming (GFM) converters often enjoys a desirable property…
The simulated self-assembly of molecular building blocks into functional complexes is a key area of study in computational biology and materials science. Self-assembly simulations of proteins using physically-motivated potentials for…
Nonlinear stabilization using control contraction metric (CCM) method usually involves an online optimization problem to compute a minimal geodesic (a shortest path) between pair of states, which is not desirable for real-time applications.…
Maximizing monotone submodular functions under cardinality constraints is a classic optimization task with several applications in data mining and machine learning. In this paper we study this problem in a dynamic environment with…
Systems as diverse as binary mixtures and inclusions in biological membranes, and many more, can be described effectively by interacting spins. When the critical fluctuations in these systems are constrained by boundary conditions, critical…
Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…
We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…