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Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…
A semiclassical method of complex trajectories for the calculation of the tunneling exponent in systems with many degrees of freedom is further developed. It is supplemented with an easily implementable technique, which enables one to…
In this paper, we introduce a graph matching method that can account for constraints of arbitrary order, with arbitrary potential functions. Unlike previous decomposition approaches that rely on the graph structures, we introduce a…
We develop a new, efficient, and accurate method to simulate frequency-domain borehole electromagnetic (EM) measurements acquired in the presence of three-dimensional (3D) variations of the anisotropic subsurface conductivity. The method is…
Traffic simulation models have long been popular in modern traffic planning and operation applications. Efficient calibration of simulation models is usually a crucial step in a simulation study. However, traditional calibration procedures…
Kernel approximation via nonlinear random feature maps is widely used in speeding up kernel machines. There are two main challenges for the conventional kernel approximation methods. First, before performing kernel approximation, a good…
The paper presents a numerical method for simulating flow and mechanics in fractured rock. The governing equations that couple the effects in the rock mass and in the fractures are obtained using the discrete fracture-matrix approach. The…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Block coordinate descent is an optimization paradigm that iteratively updates one block of variables at a time, making it quite amenable to big data applications due to its scalability and performance. Its convergence behavior has been…
In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…
Drilling is a requisite operation for many industries to reach a targeted subsurface zone. Loss of circulation is a common problem that often causes interruptions to the drilling process and a reduction in efficiency. In this work, a…
Bifurcation phenomena in nonlinear dynamical systems often lead to multiple coexisting stable solutions, particularly in the presence of symmetry breaking. Deterministic machine learning models are unable to capture this multiplicity,…
Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…
We consider a nonlinear mixed-dimensional model for simulating gas transport in shale formation. The mathematical model consists of a coupled system of nonlinear equations, where flow within fractures is represented using a…
The topology transition problem of transmission networks is becoming increasingly crucial with topological flexibility more widely leveraged to promote high renewable penetration. This paper proposes a novel methodology to address this…
The near-surface environment is often too complex to enable inference of hydrological and environmental variables using one geophysical data type alone. Joint inversion and coupled inverse modeling involving numerical flow- and transport…
This study presents a spiral-based complete coverage strategy for ball-end milling on freeform surfaces, utilizing conformal slit mapping to generate milling trajectories that are more compact, smoother, and evenly distributed when…
A methodology for handling block-to-block coupling of nonconforming, multiblock summation-by-parts finite difference methods is proposed. The coupling is based on the construction of projection operators that move a finite difference grid…
In this paper we present a mixed projection- and density-based topology optimization approach. The aim is to combine the benefits of both parametrizations: the explicit geometric representation provides specific controls on certain design…
In the current industry, the development of optimized mechanical components able to satisfy the customer requirements evolves quickly. Therefore, companies are asked for efficient solutions to improve their products in terms of stiffness…