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Nonlinearities and instabilities in mechanical structures have shown great promise for embedding advanced functionalities. However, simulating structures subject to nonlinearities can be challenging due to the complexity of their behavior,…
Simulation is a foundational tool for the analysis and testing of cyber-physical systems (CPS), underpinning activities such as algorithm development, runtime monitoring, and system verification. As CPS grow in complexity and scale,…
Mathematical modeling is a powerful tool in rheology, and we present pyRheo, an open-source package for Python designed to streamline the analysis of creep, stress relaxation, oscillation, and rotation tests. pyRheo contains a comprehensive…
The use of origami in engineering has significantly expanded in recent years, spanning deployable structures across scales, folding robotics, and mechanical metamaterials. However, finding foldable paths can be a formidable task as the…
Skinning and rigging are fundamental components in animation, articulated object reconstruction, motion transfer, and 4D generation. Existing approaches predominantly rely on Linear Blend Skinning (LBS), due to its simplicity and…
pyGDM is a python toolkit for electro-dynamical simulations of individual nano-structures, based on the Green Dyadic Method (GDM). pyGDM uses the concept of a generalized propagator, which allows to solve cost-efficiently monochromatic…
Shape-morphing structures have the capability to transform from one state to another, making them highly valuable in engineering applications. In this study, it is propose a two-stage shape-morphing framework inspired by kirigami structures…
The precision, stability, and performance of lightweight high-strength steel structures in heavy machinery is affected by their highly nonlinear dynamics. This, in turn, makes control more difficult, simulation more computationally…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present PyRoki: a modular, extensible, and cross-platform toolkit for…
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
Sparse linear algebra is a cornerstone of many scientific computing and machine learning applications. Python has become a popular choice for these applications due to its simplicity and ease of use. Yet high performance sparse kernels in…
In this paper, we introduce fastHDMI, a Python package designed for efficient variable screening in high-dimensional datasets, particularly neuroimaging data. This work pioneers the application of three mutual information estimation methods…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
In computer graphics (CG) education, the challenge of finding modern, versatile tools is significant, particularly when integrating both legacy and advanced technologies. Traditional frameworks, often reliant on solid, yet outdated APIs…
We present PetIGA, a code framework to approximate the solution of partial differential equations using isogeometric analysis. PetIGA can be used to assemble matrices and vectors which come from a Galerkin weak form, discretized with…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
Ordinary Differential Equations (ODE) are used throughout science where the capture of rates of change in states is sought. While both pieces of commercial and open software exist to study such systems, their efficient and accurate usage…
We present a new software pipeline -- PyMorph -- for automated estimation of structural parameters of galaxies. Both parametric fits through a two dimensional bulge disk decomposition as well as structural parameter measurements like…
In this paper, we introduce Pysimfrac, a open-source python library for generating 3-D synthetic fracture realizations, integrating with fluid simulators, and performing analysis. Pysimfrac allows the user to specify one of three fracture…