相关论文: An optimized material removal process

Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…

We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…

We present a detailed analysis of the bounds on the integration step in Discrete Element Method (DEM) for simulating collisions and shearing of granular assemblies. We show that, in the numerical scheme, the upper limit for the integration…

The dynamic of real-world optimization problems raises new challenges to the traditional particle swarm optimization (PSO). Responding to these challenges, the dynamic optimization has received considerable attention over the past decade.…

The problem of simultaneous trajectography of several dynamical objects is formulated as an optimization problem. The available observations consist in a series of photographs showing undiscriminated objects. The goal is to find the object…

We model the efficiency of loading atoms of various species into a one dimensional optical lattice from a cold ensemble taking into account the initial cloud temperature and size, the lattice laser properties affecting the trapping…

We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

Analog circuit design can be formulated as a non-linear constrained optimisation problem that can be solved using any suitable optimisation algorithms. Different optimisation techniques have been reported to reduce the design time of analog…

Simulated annealing solves global optimization problems by means of a random walk in a cooling energy landscape based on the objective function and a temperature parameter. However, if the temperature is decreased too quickly, this…

We propose a new conceptual approach to reach unattained dissipative properties based on the friction of slender concentric sliding columns. We begin by searching for the optimal topology in the simplest telescopic system of two concentric…

The periodic mode is analyzed together with two conventional boundary handling modes for particle swarm. By providing an infinite space that comprises periodic copies of original search space, it avoids possible disorganizing of particle…

We present an efficient, accurate, and robust method for simulation of dense suspensions of deformable and rigid particles immersed in Stokesian fluid in two dimensions. We use a well-established boundary integral formulation for the…

We discuss a topology optimization problem for an elastoplastic medium. The distribution of material in a region is optimized with respect to a given target functional taking into account compliance. The incremental elastoplastic problem…

While many Particle Swarm Optimization (PSO) algorithms only use fitness to assess the performance of particles, in this work, we adopt Surprisingly Popular Algorithm (SPA) as a complementary metric in addition to fitness. Consequently,…

We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is…

We study the variant of Particle Swarm Optimization (PSO) that applies random velocities in a dimension instead of the regular velocity update equations as soon as the so-called potential of the swarm falls below a certain bound in this…

We consider global non-convex optimisation problems under uncertainty. In this setting, it is not possible to implement a desired solution exactly. Instead, any other solution within some distance to the intended solution may be…

Medical image registration seeks to find an optimal spatial transformation that best aligns the underlying anatomical structures. These problems usually require the optimization of a similarity metric. Swarm Intelligence techniques are very…

Particle Swam Optimization is a population-based and gradient-free optimization method developed by mimicking social behaviour observed in nature. Its ability to optimize is not specifically implemented but emerges in the global level from…