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Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
Additive Manufacturing (AM) is transforming the manufacturing sector by enabling efficient production of intricately designed products and small-batch components. However, metal parts produced via AM can include flaws that cause inferior…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Additive Manufacturing (AM) is a powerful technology that produces complex 3D geometries using various materials in a layer-by-layer fashion. However, quality assurance is the main challenge in AM industry due to the possible time-varying…
Additive manufacturing techniques are revolutionizing product development by enabling fast turnaround from design to fabrication. However, the throughput of the rapid prototyping pipeline remains constrained by print optimization, requiring…
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may expand in multiple directions when stretched and enable…
3D object detection with point clouds and images plays an important role in perception tasks such as autonomous driving. Current methods show great performance on detection and pose estimation of standard-shaped vehicles but lack behind on…
The morphing of 3D structures is suitable for i) future tunable material design for customizing material properties and ii) advanced manufacturing tools for fabricating 3D structures on a 2D plane. However, there is no inverse design method…
The identification and correction of manufacturing defects, particularly gaps and overlaps, are crucial for ensuring high-quality composite parts produced through Automated Fiber Placement (AFP). These imperfections are the most commonly…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Recent advancements in augmented reality and virtual reality have significantly enhanced workflows for drawing 3D objects. Despite these technological strides, existing AR tools often lack the necessary precision and struggle to maintain…
A technique is presented for producing synthetic images from numerical simulations whereby the image resolution is adapted around prominent features. In so doing, adaptive image ray-tracing (AIR) improves the efficiency of a calculation by…
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…
The advent of 3D printing has revolutionized many industries and has had similar improvements for soft robots. However, many challenges persist for these functional devices. Magnetic soft robots require the addition of magnetic particles…
Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…
Accurately predicting the temperature field in metal additive manufacturing (AM) processes is critical to preventing overheating, adjusting process parameters, and ensuring process stability. While physics-based computational models offer…
Unlike the rigid, high-volume automation found in industry, academic research requires process flexibility that has historically relied on variable manual operations. This hinders the fabrication of advanced, complex devices. We propose to…
We present a methodology for designing metagratings for perfect anomalous refraction, based on multilayered loaded wire arrays. In recent work, it has been shown that such structures can implement perfect anomalous deflection and beam…
Metamaterials exhibit materials response deviation from conventional elasticity. This phenomenon is captured by the generalized elasticity as a result of extending the theory at the expense of introducing additional parameters. These…
The higher speed, scalability and parallelism offered by ReRAM crossbar arrays foster development of ReRAM-based next generation AI accelerators. At the same time, sensitivity of ReRAM to temperature variations decreases R_on/Roff ratio and…