相关论文: Passively Addressed Robotic Morphing Surface (PARM…
Parallel implementation of numerical adaptive mesh refinement (AMR)strategies for solving 3D elastostatic contact mechanics problems is an essential step toward complex simulations that exceed current performance levels. This paper…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
Adaptive mesh refinement (AMR) offers a practical solution to reduce the computational cost and memory requirement of numerical simulations that use computational meshes. In this work, we introduce a novel smart methodology for adaptive…
We propose a new approach for controlling the characteristics of certain mesh faces during optimization of high-order curved meshes. The practical goals are tangential relaxation along initially aligned curved boundaries and internal…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…
The ever-growing popularity and rapid improving of artificial intelligence (AI) have raised rethinking on the evolution of wireless networks. Mobile edge computing (MEC) provides a natural platform for AI applications since it is with rich…
We present the Locally Adaptive Morphable Model (LAMM), a highly flexible Auto-Encoder (AE) framework for learning to generate and manipulate 3D meshes. We train our architecture following a simple self-supervised training scheme in which…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Mixed reality (MR) environments offer embodied spatial interaction, providing intuitive 3D manipulation capabilities that enhance the conceptual design process. Parametric modeling, a powerful and advanced architectural design method,…
We present Advancing Front Mapping (AFM), a provably robust algorithm for the computation of surface mappings to simple base domains. Given an input mesh and a convex or star-shaped target domain, AFM installs a (possibly refined) version…
Pixel-based reconfigurable intelligent surfaces (RISs) employ a novel design to achieve high reflection gain at a lower hardware cost by eliminating the phase shifters used in traditional RIS. However, this design presents challenges for…
We present a novel, physically-based morphing technique for elastic shapes, leveraging the differentiable material point method (MPM) with space-time control through per-particle deformation gradients to accommodate complex topology…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Reconfigurable Intelligent Surfaces (RIS) represent a transformative technology for sixth-generation (6G) wireless communications, but it suffers from a significant limitation, namely the double-fading attenuation. Active RIS has emerged as…
We propose Medial Atom Ray Fields (MARFs), a novel neural object representation that enables accurate differentiable surface rendering with a single network evaluation per camera ray. Existing neural ray fields struggle with multi-view…
Synthetic Aperture Radar (SAR) utilizes the movement of the radar antenna over a specific area of interest to achieve higher spatial resolution imaging. In this paper, we aim to investigate the realization of SAR imaging for a stationary…
Intelligent reflecting surface (IRS) has recently been recognized as a promising technology to enhance the energy and spectrum efficiency of wireless networks by controlling the wireless medium with the configurable electromagnetic…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…