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Computational constraints permeate the controller design process, and yet are rarely treated as explicit design constraints. Towards addressing this gap, we propose a quantitative framework that captures the effects of common design…
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent advances in learning configuration-space distance functions…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
Reducing inference time and energy usage while maintaining prediction accuracy has become a significant concern for deep neural networks (DNN) inference on resource-constrained edge devices. To address this problem, we propose a novel…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…
We present a systematic investigation of convolutional autoencoders for the reduced-order representation of three-dimensional interfacial multiphase flows. Focusing on the reconstruction of phase indicators, we examine how the choice of…
Designing composite materials as per the application requirements is fundamentally a challenging and time consuming task. Here we report the development of a deep neural network based computational framework capable of solving the forward…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Component-based design paradigm is of paramount importance due to prolific growth in the complexity of modern-day systems. Since the components are developed primarily by multi-party vendors and often assembled to realize the overall…
Machine learning solutions are rapidly adopted to enable a variety of key use cases, from conversational AI assistants to scientific discovery. This growing adoption is expected to increase the associated lifecycle carbon footprint,…
Analog integrated circuit (IC) floorplanning is typically a manual process with the placement of components (devices and modules) planned by a layout engineer. This process is further complicated by the interdependence of floorplanning and…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Superconducting coplanar-waveguide (CPW) resonators are one of the key devices in circuit quantum electrodynamics (cQED). Their performance can be limited by dielectric losses in the substrate and in the material interfaces. Reliable…
This paper focuses on the application of soft computing in remanufacturing system, in which end-of-life products are disassembled into basic components and then remanufactured for both economic and environmental reasons. The disassembly…
A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model…
Machine learning based image classification algorithms, such as deep neural network approaches, will be increasingly employed in critical settings such as quality control in industry, where transparency and comprehensibility of decisions…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Product disassembly plays a crucial role in the recycling, remanufacturing, and reuse of end-of-use (EoU) products. However, the current manual disassembly process is inefficient due to the complexity and variation of EoU products. While…
Numerically predicting the performance of heterogenous structures without scale separation represents a significant challenge to meet the critical requirements on computational scalability and efficiency -- adopting a mesh fine enough to…