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During the last ten years, increasing efforts were made to improve and simplify the process from Computer Aided Design (CAD) modeling to a numerical simulation. It has been shown that the transition from one model to another, i.e. the…
We introduce MeshGPT, a new approach for generating triangle meshes that reflects the compactness typical of artist-created meshes, in contrast to dense triangle meshes extracted by iso-surfacing methods from neural fields. Inspired by…
Implicit time integration is key to robustly simulating stiff materials and large deformations, but its performance is often dominated by repeatedly solving large linear systems. Adaptive coarsening can reduce this cost by concentrating…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
By integrating the principles of kirigami cutting and data-driven modeling, this study aims to develop a personalized, rapid, and low-cost design and fabrication pipeline for creating body-conformable surfaces around the knee joint. The…
The inelastic incompressibility is a typical feature of metal plasticity/viscoplasticity. Over the last decade, there has been a great amount of research related to construction of numerical integration algorithms which exactly preserve…
Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability…
One of the critical components in Industrial Gas Turbines (IGT) is the turbine blade. Design of turbine blades needs to consider multiple aspects like aerodynamic efficiency, durability, safety and manufacturing, which make the design…
Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using…
This paper presents a novel gradient-informed slicing method for functionally graded additive manufacturing (FGM) that overcomes the limitations of conventional toolpath planning approaches, which struggle to produce truly continuous…
While recent advances in Gaussian Splatting have enabled fast reconstruction of high-quality 3D scenes from images, extracting accurate surface meshes remains a challenge. Current approaches extract the surface through costly…
Manipulation of thin sheets by folding and cutting offers opportunity to engineer structures with novel mechanical properties, and to prescribe complex force-displacement relationships via material elasticity in combination with the…
Fueled by their excellent stiffness-to-weight ratio and the availability of mature manufacturing technologies, filament wound carbon fiber reinforced polymers represent ideal materials for thin-walled laminate structures. However, their…
This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
Extrapolating fine-grained pixel-level correspondences in a fully unsupervised manner from a large set of misaligned images can benefit several computer vision and graphics problems, e.g. co-segmentation, super-resolution, image edit…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Metal additive manufacturing (AM) processes often fabricate a near-net shape that includes the as-designed part as well as the sacrificial support structures that need to be machined away by subtractive manufacturing (SM), for instance…
Vision-Language Models (VLMs) have advanced rapidly within the unified Transformer architecture, yet their deployment on resource-constrained devices remains challenging due to high computational complexity. While pruning has emerged as an…