相关论文: Nonlinear synthesis of compliant mechanisms with s…

Topologies of large deformation Contact-aided Compliant Mechanisms (CCMs), with self and mutual contact, exemplified via path generation applications, are designed using the continuum synthesis approach. Design domains are parameterized…

In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…

This paper presents a robust density-based topology optimization approach for synthesizing pressure-actuated compliant mechanisms. To ensure functionality under manufacturing inaccuracies, the robust or three-field formulation is employed,…

Unlike conventional mechanisms, compliant mechanisms produce the desired deformations by exploiting elastic strain and do not need, therefore, moving parts. The number of degrees of freedom of a conventional mechanism, also called mobility,…

A topology optimization method is presented for the design of periodic microstructured materials with prescribed homogenized nonlinear constitutive properties over finite strain ranges. The mechanical model assumes linear elastic isotropic…

A topology synthesis approach to design 2D Contact-aided Compliant Mechanisms (CCMs) to trace output paths with three or more kinks is presented. Synthesis process uses three different types of external, rigid contact surfaces: circular,…

We synthesize monolithic topologies of constant output (CoFM) and input (CiFM) force mechanisms. During synthesis, we capture all possible aspects of member deformation including finite displacements, buckling, interaction between members,…

Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…

The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…

Circuit topology generation plays a crucial role in the design of electronic circuits, influencing the fundamental functionality of the circuit. In this paper, we introduce CIRCUITSYNTH, a novel approach that harnesses LLMs to facilitate…

Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…

This paper presents a synthesis approach in a density-based topology optimization setting to design large deformation compliant mechanisms for inducing desired strains in biological tissues. The modelling is based on geometrical…

Naturalistic driving trajectories are crucial for the performance of autonomous driving algorithms. However, most of the data is collected in safe scenarios leading to the duplication of trajectories which are easy to be handled by…

We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…

In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…

In the present paper, an integrated paradigm for topology optimization on complex surfaces with arbitrary genus is proposed. The approach is constructed based on the two-dimensional (2D) Moving Morphable Component (MMC) framework, where a…

Compliant mechanisms have significant potential in precision applications due to their ability to guide motion without contact. However, an inherent vulnerability to fatigue and mechanical failure has hindered the translation of compliant…

While Multimodal Large Language Models have achieved human-like performance on many visual and textual reasoning tasks, their proficiency in fine-grained spatial understanding, such as route tracing on maps remains limited. Unlike humans,…

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…

In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…