Related papers: Massively-Parallel Implementation of Inextensible …
Rod-like metamaterials are the structures that are obtained by periodically assembling its microstructural unit (network of rods) in just one direction. In this work, we present a scheme for obtaining the nonlinear constitutive response of…
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Cosserat rod equations, which have been shown to be accurate for…
We propose the Nonlinear Regression Convolutional Encoder-Decoder (NRCED), a novel framework for mapping a multivariate input to a multivariate output. In particular, we implement our algorithm within the scope of 12-lead surface…
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…
Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose an intermittent synchronization with the extrema of the…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
A modern graphics processing unit (GPU) is able to perform massively parallel scientific computations at low cost. We extend our implementation of the checkerboard algorithm for the two dimensional Ising model [T. Preis et al., J. Comp.…
Discrete fine-scale models, in the form of either particle or lattice models, have been formulated successfully to simulate the behavior of quasi-brittle materials whose mechanical behavior is inherently connected to fracture processes…
Reduction operations are extensively employed in many computational problems. A reduction consists of, given a finite set of numeric elements, combining into a single value all elements in that set, using for this a combiner function. A…
Real-world node embedding applications often contain hundreds of billions of edges with high-dimension node features. Scaling node embedding systems to efficiently support these applications remains a challenging problem. In this paper we…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
For lattice Monte Carlo simulations parallelization is crucial to make studies of large systems and long simulation time feasible, while sequential simulations remain the gold-standard for correlation-free dynamics. Here, various domain…
Dynamic parallelism on GPUs allows GPU threads to dynamically launch other GPU threads. It is useful in applications with nested parallelism, particularly where the amount of nested parallelism is irregular and cannot be predicted…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Elastic geodesic grids deploy from flat to spatial configurations via complex nonlinear motion that is difficult to represent robustly for simulation. We present a geometric guidance framework that discretizes deployment as synchronized,…
Temporal Interaction Graphs (TIGs) are widely employed to model intricate real-world systems such as financial systems and social networks. To capture the dynamism and interdependencies of nodes, existing TIG embedding models need to…
Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
The immersed boundary (IB) method has become a leading approach in cardiac fluid-structure interaction (FSI) modeling due to its ability to handle large deformations and complex geometries without requiring mesh regeneration. However, the…
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…