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For mechanical systems subject to periodic excitation, forced response curves (FRCs) depict the relationship between the amplitude of the periodic response and the forcing frequency. For nonlinear systems, this functional relationship is…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
This paper applies the multibond graph approach for rigid multibody systems to model the dynamics of general spatial mechanisms. The commonly used quick return mechanism which comprises of revolute as well as prismatic joints has been…
We map the problem of determining flat-foldability of the origami diagram onto the ground-state search problem of spin glass model on random graphs. If the origami diagram is locally flat-foldable around each vertex, a pre-folded diagram,…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). However,…
Shape-morphing structures, which are able to change their shapes from one state to another, are important in a wide range of engineering applications. A popular scenario is morphing from an initial two-dimensional (2D) shape that is flat to…
We present a method for estimating neural scenes representations of objects given only a single image. The core of our method is the estimation of a geometric scaffold for the object and its use as a guide for the reconstruction of the…
Representing 3D scenes from multiview images is a core challenge in computer vision and graphics, which requires both precise rendering and accurate reconstruction. Recently, 3D Gaussian Splatting (3DGS) has garnered significant attention…
We consider a construction of recurrent fractal interpolation surfaces with function vertical scaling factors and estimation of their box-counting dimension. A recurrent fractal interpolation surface (RFIS) is an attractor of a recurrent…
We use a regular arrangement of kirigami elements to demonstrate an inverse design paradigm for folding a flat surface into complex target configurations. We first present a scheme using arrays of disclination defect pairs on the dual to…
Federated learning (FL) has become a promising paradigm for collaborative medical image analysis, yet existing frameworks remain tightly coupled to task-specific backbones and are fragile under heterogeneous imaging modalities. Such…
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…
This paper proposes a systematic and novel component level co-rotational (CR) framework, for upgrading existing 3D continuum finite elements to flexible multibody analysis. Without using any model reduction techniques, the high efficiency…
We show that physics-based simulations can be seamlessly integrated with NeRF to generate high-quality elastodynamics of real-world objects. Unlike existing methods, we discretize nonlinear hyperelasticity in a meshless way, obviating the…
We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed in a low-dimensional latent state space that embeds images.…
Dynamic Scene Graphs (DSGs) provide a structured representation of hierarchical, interconnected environments, but current approaches struggle to capture stochastic dynamics, partial observability, and multi-agent activity. These aspects are…
A computationally efficient method is presented for approximate optimization of cutting pattern of frame-supported and pneumatic membrane structures. The plane cutting sheet is generated by minimizing the error from the shape obtained by…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
Multi-slice magnetic resonance images of the fetal brain are usually contaminated by severe and arbitrary fetal and maternal motion. Hence, stable and robust motion correction is necessary to reconstruct high-resolution 3D fetal brain…