Related papers: Optimizing properties on the critical rigidity man…
Stiffener layout optimization of complex surfaces is fulfilled within the framework of topology optimization. A combined parameterization method is developed in two aspects. One is to parameterize the material distribution of the stiffener…
Geometric graph models of systems as diverse as proteins, robots, and mechanical structures from DNA assemblies to architected materials point towards a unified way to represent and control them in space and time. While much work has been…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
This article combines shape optimization and homogenization techniques by looking for the optimal design of the microstructure in composite materials and of scaffolds. The development of materials with specific properties is of huge…
Unlike conventional mechanisms, compliant mechanisms produce the desired deformations by exploiting elastic strain and do not need, therefore, moving parts. The number of degrees of freedom of a conventional mechanism, also called mobility,…
Providing dry solid contacts with on-demand macroscale frictional behaviour remains a formidable challenge in tribology, haptics or robotics. Metainterfaces created from surfaces with engineered asperity-based topographies can achieve such…
Optimization under structural constraints is typically analyzed through projection or penalty methods, obscuring the geometric mechanism by which constraints shape admissible dynamics. We propose an operator-theoretic formulation in which…
Mechanical metamaterials -- structures with unusual properties that emerge from their internal architecture -- that are designed to undergo large deformations typically exploit large internal rotations, and therefore, necessitate the…
Triply periodic minimal surface (TPMS) metamaterials characterized by mathematically-controlled topologies exhibit better mechanical properties compared to uniform structures. The unit cell topology of such metamaterials can be further…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…
A new approach for generating stress-constrained topological designs in continua is presented. The main novelty is in the use of elasto-plastic modeling and in optimizing the design such that it will exhibit a linear-elastic response. This…
Compression is a standard procedure for making convolutional neural networks (CNNs) adhere to some specific computing resource constraints. However, searching for a compressed architecture typically involves a series of time-consuming…
We study, possibly distributed, robust weight control policies for DC power networks that change link susceptances, or weights in response to balanced disturbances to the supply-demand vector. The margin of robustness for a given control…
Isostatic frames are mechanical networks that are simultaneously rigid and free of self-stress states, and is a powerful concept in understanding phase transitions in soft matter and designing of mechanical metamaterials. Here we analyze…
A framework is a graph and a map from its vertices to E^d (for some d). A framework is universally rigid if any framework in any dimension with the same graph and edge lengths is a Euclidean image of it. We show that a generic universally…
Matrix-valued optimization tasks, including those involving symmetric positive definite (SPD) matrices, arise in a wide range of applications in machine learning, data science and statistics. Classically, such problems are solved via…
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…
Metamaterials exhibit materials response deviation from conventional elasticity. This phenomenon is captured by the generalized elasticity as a result of extending the theory at the expense of introducing additional parameters. These…
High-capacity kernel Hopfield networks exhibit a \textit{Ridge of Optimization} characterized by extreme stability. While previously linked to \textit{Spectral Concentration}, its origin remains elusive. Here, we analyze the network…