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Lightweight inference is critical for biomolecular structure prediction and downstream tasks, enabling efficient real-world deployment and inference-time scaling for large-scale applications. While AF3 and its variants (e.g., Protenix,…
A mechanical model and numerical method for the simultaneous analysis of Reissner-Mindlin shells with geometries implied by a continuous set of level sets (isosurfaces) over some three-dimensional bulk domain is presented. A…
Honeycomb-like microstructures have been shown to exhibit local elastic buckling under compression, with three possible geometric buckling modes, or pattern transformations. The individual pattern transformations, and consequently also…
Large amplitude vibrations can cause hazards and failure to engineering structures. Active control has been an effective strategy to suppress vibrations, but it faces great challenges in the real-time control of nonlinear flexible…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
We introduce the Structured Sparsity Specification (S$^3$), an algebraic framework for defining, composing, and implementing structured sparse patterns. S$^3$ specifies sparsity through three components: a View that reshapes the tensor via…
We investigate synthesis of a large effective aperture using a sparse array of subarrays. We employ a multi-objective optimization framework for placement of subarrays within a prescribed area dictated by form factor constraints, trading…
Hypergraphs, which use hyperedges to capture groupwise interactions among different entities, have gained increasing attention recently for their versatility in effectively modeling real-world networks. In this paper, we study the problem…
We propose a two-scale finite element method designed for heterogeneous microstructures. Our approach exploits domain diffeomorphisms between the microscopic structures to gain computational efficiency. By using a conveniently constructed…
This paper presents a method for simultaneous optimization of the outer shape and internal topology of aircraft wings, with the objective of minimizing drag subject to lift and compliance constraints for multiple load cases. The physics are…
Microstructures, characterized by intricate structures at the microscopic scale, hold the promise of important disruptions in the field of mechanical engineering due to the superior mechanical properties they offer. One fundamental…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
We propose a new algorithm for the solution of the robust multiple-load topology optimization problem. The algorithm can be applied to any type of problem, e.g., truss topology, variable thickness sheet or free material optimization. We…
The proliferation of satellite constellations, coupled with reduced tasking latency and diverse sensor capabilities, has expanded the opportunities for automated Earth observation. This paper introduces a fully automated Tip-and-Cue…
Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for higher manufacturing…
This work presents a novel method for fitting superquadrics to point clouds under the contamination of noise and outliers, which has many applications for shape modeling across diverse fields. Unlike prior approaches that either exclusively…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
The construction of highly incoherent frames, sequences of vectors placed on the unit hyper sphere of a finite dimensional Hilbert space with low correlation between them, has proven very difficult. Algorithms proposed in the past have…
Large, pre-trained models are problematic to use in resource constrained applications. Fortunately, task-aware structured pruning methods offer a solution. These approaches reduce model size by dropping structural units like layers and…
We formulate a cut finite element method for linear elasticity based on higher order elements on a fixed background mesh. Key to the method is a stabilization term which provides control of the jumps in the derivatives of the finite element…