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Vertebrate animals benefit from a combination of rigidity for structural support and softness for adaptation. Similarly, integrating rigidity and softness can enhance the versatility of soft robotics. However, the challenges associated with…
Nonlinear dimensionality reduction methods have demonstrated top-notch performance in many pattern recognition and image classification tasks. Despite their popularity, they suffer from highly expensive time and memory requirements, which…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Plane arrangements are a useful tool for surface and volume modelling. However, their main drawback is poor scalability. We introduce two key novelties that enable the construction of plane arrangements for complex objects and entire…
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…
In geometry processing, symmetry is a universal type of high-level structural information of 3D models and benefits many geometry processing tasks including shape segmentation, alignment, matching, and completion. Thus it is an important…
In this paper, we introduce a method to rapidly create 3D geometries by folding 2D sheets via pull-up nets. Given a 3D structure, we unfold its mesh into a planar 2D sheet using heuristic algorithms and populate these with cutlines and…
A combinatorial model of molecular conformational space that was previously developped (J. Gabarro-Arpa, Comp. Biol. and Chem. 27, (2003) 153-159), had the drawback that structures could not be properly embedded beacause it lacked explicit…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…
Recent advances in microphysiological systems have underscored the need for novel sensing and monitoring systems specifically designed for three-dimensional (3D) cell culture. In this article, an original architecture of a cell-culture…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
In the process of projecting the surface of a three-dimensional object onto a two-dimensional surface, due to the perspective distortion, the image on the surface of the object will have different degrees of distortion according to the…
Human bodies exhibit various shapes for different identities or poses, but the body shape has certain similarities in structure and thus can be embedded in a low-dimensional space. This paper presents an autoencoder-like network…
This article proposes a mortar type finite element formulation for consistently embedding curved, slender beams, i.e. 1D Cosserat continua, into 3D solid volumes. A consistent 1D-3D coupling scheme for this problem type is proposed, which…
The surface reconstruction problem from sets of planar parallel slices representing cross sections through 3D objects is presented. The final result of surface reconstruction is always based on the correct estimation of the structure of the…
Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…
Low-distortion embeddings are critical building blocks for developing random sampling and random projection algorithms for linear algebra problems. We show that, given a matrix $A \in \R^{n \times d}$ with $n \gg d$ and a $p \in [1, 2)$,…
Nested space-filling designs are nested designs with attractive low-dimensional stratification. Such designs are gaining popularity in statistics, applied mathematics and engineering. Their applications include multi-fidelity computer…