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Simulations with high accuracy are an essential part of scientific research to accelerate the innovation process. They are especially useful for finding novel approaches or optimizing existing methods. Today, powerful software tools are…
Automatically tuning parallel compute kernels allows libraries and frameworks to achieve performance on a wide range of hardware, however these techniques are typically focused on finding optimal kernel parameters for particular input sizes…
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…
In this work I present a technique of construction and fast evaluation of a family of cubic polynomials for analytic smoothing and graphical rendering of particles trajectories for flows in a generic geometry. The principal result of the…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
The rapid progress and advancement in electronic chips technology provide a variety of new implementation options for system engineers. The choice varies between the flexible programs running on a general-purpose processor (GPP) and the…
Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection without human intervention, the robots must be able to perch on the powerlines to recharge their batteries. Highly…
In this paper, we present Mixels, programmable magnetic pixels that can be rapidly fabricated using an electromagnetic printhead mounted on an off-the-shelve 3-axis CNC machine. The ability to program magnetic material pixel-wise with…
Hardware accelerators for neural networks have shown great promise for both performance and power. These accelerators are at their most efficient when optimized for a fixed functionality. But this inflexibility limits the longevity of the…
Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
This paper presents an effective formulation to study the response of laminated composites based on isogeometric approach (IGA) and Carrera unified formulation (CUF). The IGA utilizes the non-uniform rational B-spline (NURBS) functions…
Reversibility is a key issue in the interface between computation and physics, and of growing importance as miniaturization progresses towards its physical limits. Most foundational work on reversible computing to date has focussed on…
We present a bimanual mobile manipulator built on the open-source XLeRobot with integrated onboard compute for less than \$1300. Key contributions include: (1) optimized mechanical design maximizing stiffness-to-weight ratio, (2) a Tri-Bus…
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…
Component-Based Development (CBD) is a popular approach to mitigating the costs of creating software systems. However, it is not clear to what extent the core component selection and adaptation activities of CBD can be implemented to…
High-performance micro-kernels must fully exploit today's diverse and specialized hardware to deliver peak performance to DNNs. While higher-level optimizations for DNNs are offered by numerous compilers (e.g., MLIR, TVM, OpenXLA),…
Scientific software applications are increasingly developed by large interdiscplinary teams operating on functional modules organized around a common software framework, which is capable of integrating new functional capabilities without…
Natural Language Processing (NLP) tools support requirements engineering (RE) tasks like requirements elicitation, classification, and validation. However, they are often developed from scratch despite functional overlaps, and abandoned…