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The third medium contact method has recently come into popularity as an alternative to traditional contact methods in contexts where search for contact boundaries is problematic, i.e. topology optimization. To enforce the contact…
Example-based mesh deformation methods are powerful tools for realistic shape editing. However, existing techniques typically combine all the example deformation modes, which can lead to overfitting, i.e. using a overly complicated model to…
High-order meshes are crucial for achieving optimal convergence rates in curvilinear domains, preserving symmetry, and aligning with key flow features in moving mesh simulations, but their quality is challenging to control. In prior work,…
The Method of Alternating Projections (MAP), a classical algorithm for solving feasibility prob- lems, has recently been intensely studied for nonconvex sets. However, intrinsically available are only local convergence results: convergence…
The modified Rodrigues parameters (MRP) consist of two numerically different triplets that, by switching between them, yield a minimal globally non-singular attitude description with advantageous properties. The MRP space results from the…
Continuous optimization has significantly advanced causal discovery, yet existing methods (e.g., NOTEARS) generally guarantee only asymptotic convergence to a stationary point. This often yields dense weighted matrices that require…
Solid contacts involving soft materials are important in mechanical engineering or biomechanics. Experimentally, such contacts have been shown to shrink significantly under shear, an effect which is usually explained using adhesion models.…
Arc plasmas have promising applications in many fields. To explore their property is of interest. This paper presents detailed pressure-based finite volume simulation of argon arc. In the modeling, the whole cathode region is coupled to…
It is well-known that the lower bound of iteration complexity for solving nonconvex unconstrained optimization problems is $\Omega(1/\epsilon^2)$, which can be achieved by standard gradient descent algorithm when the objective function is…
We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchical approach where a novel variant of a Model Predictive Path…
We investigate discrete spin transformations, a geometric framework to manipulate surface meshes by controlling mean curvature. Applications include surface fairing -- flowing a mesh onto say, a reference sphere -- and mesh extrusion --…
Reduced-order simulation is an emerging method for accelerating physical simulations with high DOFs, and recently developed neural-network-based methods with nonlinear subspaces have been proven effective in diverse applications as more…
Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on…
Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control…
In this paper, a non-linear p-robust hub location problem is extended to a risky environment where augmented chance constraint with a min-max regret form is employed to consider network risk as one of the objectives. The model considers…
Adapting Foundation Models to new domains with limited training data is challenging and computationally expensive. While prior work has demonstrated the effectiveness of using domain-specific exemplars as in-context demonstrations, we…
A stable added-mass partitioned (AMP) algorithm is developed for fluid-structure interaction (FSI) problems involving viscous incompressible flow and compressible elastic-solids. The AMP scheme remains stable and second-order accurate even…
We present a new class of particle methods with deformable shapes that converge in the uniform norm without requiring remappings, extended overlapping or vanishing moments for the particles. The crux of the method is to use polynomial…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…