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Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
We present a new framework for the simultaneous optimiziation of both the topology as well as the relative density grading of cellular structures and materials, also known as lattices. Due to manufacturing constraints, the optimization…
The democratization of fabrication equipment has spurred recent interest in maskless grayscale lithography for both 2D and 3D microfabrication. However, the design of suitable template images remains a challenge. This work presents a…
Mechanical metamaterials have continued to offer unprecedented tunability in mechanical properties, but most designs to date have prioritized attaining high stiffness and strength while sacrificing deformability. The emergence of woven…
The reduction of covering decision systems is an important problem in data mining, and covering-based rough sets serve as an efficient technique to process the problem. Geometric lattices have been widely used in many fields, especially…
This paper proposes a projection-based implicit modeling method (PIMM) for functionally graded lattice optimization, which does not require any homogenization techniques. In this method, a parametric projection function is proposed to link…
Graph partitioning is one of an important set of well-known compute-intense (NP-hard) graph problems that devolve to discrete constrained optimization. We sampled solutions to the problem via two different quantum-ready methods to…
We introduce a method to analyze and modify a shape to make it manufacturable for a given additive manufacturing (AM) process. Different AM technologies, process parameters or materials introduce geometric constraints on what is…
Recent advances in photonic inverse design have demonstrated the ability to automatically synthesize compact, high-performance photonic components that surpass conventional, hand-designed structures, offering a promising path toward…
Grasp planning for multi-fingered hands is still a challenging task due to the high nonlinear quality metrics, the high dimensionality of hand posture configuration, and complex object shapes. Analytical-based grasp planning algorithms…
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…
The ability to accurately produce geometries with specified properties is perhaps the most important characteristic of a manufacturing process. 3D printing is marked by exceptional design freedom and complexity but is also prone to…
The traditional method for computation in either the surface code or in the Raussendorf model is the creation of holes or "defects" within the encoded lattice of qubits that are manipulated via topological braiding to enact logic gates.…
In additive manufacturing, infill structures are commonly used to reduce the weight and cost of a solid part. Currently, most infill structure generation methods are based on the conventional 2.5-axis printing configuration, which, although…
Topology optimization is a critical task in engineering design, where the goal is to optimally distribute material in a given space for maximum performance. We introduce Neural Implicit Topology Optimization (NITO), a novel approach to…
Contact-implicit trajectory optimization (CITO) is an effective method to plan complex trajectories for various contact-rich systems including manipulation and locomotion. CITO formulates a mathematical program with complementarity…
Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Advances in 3D printing technology now enable the precise positioning of microscopic material voxels to form complex structures. Combined with emerging multi-material capabilities and printable responsive materials, this opens new…