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Designing cable harnesses can be time-consuming and complex due to many design and manufacturing aspects and rules. Automating the design process can help to fulfil these rules, speed up the process, and optimize the design. To accommodate…
We study the following combinatorial problem. Given a set of $n$ y-monotone curves, which we call wires, a tangle determines the order of the wires on a number of horizontal layers such that any two consecutive layers differ only in swaps…
It is required to find an optimal order of constructing the edges of a network so as to minimize the sum of the weighted connection times of relevant pairs of vertices. Construction can be performed anytime anywhere in the network, with a…
Inspired by artistic practices such as beadwork and himmeli, we study the problem of threading a single string through a set of tubes, so that pulling the string forms a desired graph. More precisely, given a connected graph (where edges…
The manufacturing industry is at the edge of the 4th industrial revolution, a paradigm of integrated architectures in which the entire production chain (composed of machines, workers and products) is intrinsically connected. Wireless…
Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often reliant on dual-robot arms or tactile sensing, face…
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and insertion of plugs, as well as the manipulation of cables, have…
Paper cutting is a simple process of slicing large rolls of paper, jumbo-reels, into various sub-rolls with variable widths based on demands risen by customers. Since the variability is high due to collected various orders into a pool, the…
In this paper, we study movements of simple polygonal chains in 3D. We say that an open, simple polygonal chain can be straightened if it can be continuously reconfigured to a straight sequence of segments in such a manner that both the…
There are many types of automata and grammar models that have been studied in the literature, and for these models, it is common to determine whether certain problems are decidable. One problem that has been difficult to answer throughout…
Given a graph, when can we orient the edges to satisfy local constraints at the vertices, where each vertex specifies which local orientations of its incident edges are allowed? This family of graph orientation problems is a special kind of…
Genome rearrangement is a common model for molecular evolution. In this paper, we consider the Pairwise Rearrangement problem, which takes as input two genomes and asks for the number of minimum-length sequences of permissible operations…
Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable…
We describe a new method for the random sampling of connected networks with a specified degree sequence. We consider both the case of simple graphs and that of loopless multigraphs. The constraints of fixed degrees and of connectedness are…
We investigate the complexity of finding a transformation from a given spanning tree in a graph to another given spanning tree in the same graph via a sequence of edge flips. The exchange property of the matroid bases immediately yields…
We introduce the problem of finding a spanning tree along with a partition of the tree edges into fewest number of feasible sets, where constraints on the edges define feasibility. The motivation comes from wireless networking, where we…
Cutting mechanics in soft solids have been a subject of study for several decades, an interest fuelled by the multitude of its applications, including material testing, manufacturing, and biomedical technology. Wire cutting is the simplest…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
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…
In recent years, there has been considerable interest in the transformative potential of additive manufacturing (AM) since it allows for producing highly customizable and complex components while reducing lead times and costs. The rise of…