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Lattice-skin structures composed of a thin-shell skin and a lattice infill are widespread in nature and large-scale engineering due to their efficiency and exceptional mechanical properties. Recent advances in additive manufacturing, or 3D…

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…

Photopolymerization-based additive manufacturing enables cost-effective, high-speed fabrication of complex 3D structures but is constrained by a trade-off between resolution and printing speed. Single-photon polymerization ensures rapid…

This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…

Within the context of 5-axis free-form machining, CAM software offers various ways of tool-path generation, depending on the geometry of the surface to be machined. Therefore, as the manufactured surface quality results from the choice of…

A topology optimization formulation including a model of the layer-by-layer additive manufacturing (AM) process is considered. Defined as a multi-objective minimization problem, the formulation accounts for the performance and cost of both…

Addressing the uncertainty and variability in the quality of 3D printed metals can further the wide spread use of this technology. Process mapping for new alloys is crucial for determining optimal process parameters that consistently…

Large-scale models rely heavily on 3D parallelism for distributed training, which utilizes tensor parallelism (TP) as the intra-operator parallelism to partition model states across GPUs. However, TP introduces significant communication…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

The main goal of the Artap project is to provide an extensive infrastructure for robust design optimization, where usually many different numerical solvers have to be used together and the impact of the manufacturing uncertainties have to…

This paper proposes a method for computing the visible occluding contours of subdivision surfaces. The paper first introduces new theory for contour visibility of smooth surfaces. Necessary and sufficient conditions are introduced for when…

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,…

The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…

The paper presents a new method for shape and topology optimization based on an efficient and scalable boundary integral formulation for elasticity. To optimize topology, our approach uses iterative extraction of isosurfaces of a…

Merging models fine-tuned for different tasks into a single unified model has become an increasingly important direction for building versatile, efficient multi-task systems. Existing approaches predominantly rely on parameter interpolation…

Additive manufacturing, such as 3D printing, offers unparalleled opportunities for rapid prototyping of complex three-dimensional objects, but typically requires simultaneous building of solid supports to minimize deformation and ensure…

Spatial concurrent constraint programming (SCCP) is an algebraic model of spatial modalities in constrained-based process calculi; it can be used to reason about spatial information distributed among the agents of a system. This work…

During the wear process of surfaces in sliding friction, there is a running-in period during which the topography of surfaces changes with time before reaching the steady wear regime. In the steady wear regime, the statistical parameters…

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…

Diffusion models have emerged as a popular method for 3D generation. However, it is still challenging for diffusion models to efficiently generate diverse and high-quality 3D shapes. In this paper, we introduce OctFusion, which can generate…