Related papers: Optimizing towards the best insertion-based error-…
We propose a two dimensional (2D) adaptive nodes technique for irregular regions. The method is based on equi-distribution principal and dimension reduction. The mesh generation is carried out by first producing some adaptive nodes in a…
Strong adhesives rely on reduced stress concentrations, often obtained via specific geometry or composition of materials. In many examples in nature and engineering prototypes, the adhesive performance relies on structural rigidity being…
A natural requirement of many distributed structures is fault-tolerance: after some failures, whatever remains from the structure should still be effective for whatever remains from the network. In this paper we examine spanners of general…
Optimal multi-layer device design requires consideration of fabrication uncertainties associated with inter-layer alignment and conformal layering. We present layer-restricted topology optimization (TO), a novel technique which mitigates…
Reverse engineering can be used to derive a 3D model of an existing physical part when such a model is not readily available. For parts that will be fabricated with subtractive and formative manufacturing processes, existing reverse…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
In this thesis, we propose new theoretical frameworks for the analysis of stochastic and distributed methods with error compensation and local updates. Using these frameworks, we develop more than 20 new optimization methods, including the…
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 assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…
Reliability and availability analysis are essential in dependable critical embedded systems. The classical implementation of dependability for an embedded system relies on merging both fundamental structures with the required dependability…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
In three dimensional integrated circuits (3D-ICs), through silicon via (TSV) is a critical technique in providing vertical connections. However, the yield and reliability is one of the key obstacles to adopt the TSV based 3D-ICs technology…
Robots generally have a structure that combines rotational joints and links in a serial fashion. On the other hand, various joint mechanisms are being utilized in practice, such as prismatic joints, closed links, and wire-driven systems.…
In this article we consider shape optimization problems as optimal control problems via the method of mappings. Instead of optimizing over a set of admissible shapes a reference domain is introduced and it is optimized over a set of…
In the industrial practice, additive manufacturing processes are often followed by post-processing operations such as subtractive machining, milling, etc. to achieve the desired surface quality and dimensional accuracy. Hence, a given part…
Projection-based integrators are effectively employed in high-precision systems with growing industrial success. By utilizing a projection operator, the resulting projection-based integrator keeps its input-output pair within a designated…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
In this study, we investigate and compare formulations for computing shape derivatives in bi-material level-set optimization with precise modeling of the interface. The level-set function is parameterized using B-splines, whose coordinates…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…