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Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Kirigami, art of paper cutting, enables two-dimensional sheets transforming into unique shapes which are also hard to reshape once with prescribed cutting patterns. Rare kirigami designs manipulate cuts on three-dimensional objects to…
Origami as a deployable structure offers the unique advantage of achieving compact stowage via flat-folding while forming a well-defined surface composed of rigid panels upon deployment. However, since origami consists of flat facets, it is…
We introduce a new technique to create a mesh of convex polyhedra representing the interior volume of a triangulated input surface. Our approach is particularly tolerant to defects in the input, which is allowed to self-intersect, to be…
Articulated objects are pervasive in daily environments, such as drawers and refrigerators. Towards their part-level surface reconstruction and joint parameter estimation, REArtGS introduces a category-agnostic approach using multi-view RGB…
This paper presents a novel shape-optimization technique for the design of mixing elements in single-screw extruders. Extruders enable the continuous production of constant-cross-section profiles. Equipped with one or several screw-shaped…
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…
Embodied AI training and evaluation require object-centric digital twin environments with accurate metric geometry and semantic grounding. Recent transformer-based feedforward reconstruction methods can efficiently predict global point…
In this paper, we present a topology optimization (TO) framework to enable automated design of mechanical components while ensuring the result can be manufactured using multi-axis machining. Although TO improves the part's performance, the…
The integration of large language models (LLMs) into robotic systems has accelerated progress in embodied artificial intelligence, yet current approaches remain constrained by existing robotic architectures, particularly serial mechanisms.…
We introduce Intrinsic Image Fusion, a method that reconstructs high-quality physically based materials from multi-view images. Material reconstruction is highly underconstrained and typically relies on analysis-by-synthesis, which requires…
In VLSI physical design, many algorithms require the solution of difficult combinatorial optimization problems such as max/min-cut, max-flow problems etc. Due to the vast number of elements typically found in this problem domain, these…
Integrated Computational Materials Engineering (ICME) aims to accelerate optimal design of complex material systems by integrating material science and design automation. For tractable ICME, it is required that (1) a structural feature…
In combinatorial optimization, probabilistic Ising machines (PIMs) have gained significant attention for their acceleration of Monte Carlo sampling with the potential to reduce time-to-solution in finding approximate ground states. However,…
In this paper, we present a robust and efficient unfitted concurrent multiscale method for continuum-continuum coupling, based on the Cut Finite Element Method (CutFEM). The computational domain is defined using approximate signed distance…
In engineering design, one of the most daunting problems in the design-through-analysis workflow is to deal with trimmed NURBS (Non-Uniform Rational B-Splines), which often involve topological/geometric issues and lead to inevitable gaps…
Ising machines and related probabilistic hardware have emerged as promising platforms for NP-hard optimization and sampling. However, many practical problems involve constraints that induce dense or all-to-all couplings, undermining…
This paper introduces a shape optimisation framework for achieving desired mutual inductances (MIs) among coils in 3D space. Utilising a wire modelling approach, the coils are discretised using B-spline curves, with control points (CPs)…
Topologies of large deformation Contact-aided Compliant Mechanisms (CCMs), with self and mutual contact, exemplified via path generation applications, are designed using the continuum synthesis approach. Design domains are parameterized…
A new model for mechanical computing is demonstrated that requires only two basic parts: links and rotary joints. These basic parts are combined into two main higher level structures: locks and balances, which suffice to create all…