相关论文: A Unified Framework for Kinematic Simulation of Ri…

Rigid structure-from-motion (RSfM) and non-rigid structure-from-motion (NRSfM) have long been treated in the literature as separate (different) problems. Inspired by a previous work which solved directly for 3D scene structure by factoring…

This study explores the use of origami composite structures as active aerodynamic control surfaces. Towards this goal, two origami concepts were designed leveraging a combination of analytical and finite element modeling, and computational…

Fluid-Structure Interaction (FSI) can be investigated by means of non-linear Finite Element Models (FEM), suitable to capture large deflections of structural parts interacting with fluids, and Computational Fluid Dynamics (CFD). High…

In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…

We develop an intrinsic necessary and sufficient condition for single-vertex origami crease patterns to be able to fold rigidly. We classify such patterns in the case where the creases are pre-assigned to be mountains and valleys as well as…

The study of origami-based mechanical metamaterials usually focuses on the kinematics of deployable structures made of an assembly of rigid flat plates connected by hinges. When the elastic response of each panel is taken into account,…

Matrix-valued optimization tasks, including those involving symmetric positive definite (SPD) matrices, arise in a wide range of applications in machine learning, data science and statistics. Classically, such problems are solved via…

This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…

Holographic algorithms, alternatively known as Pfaffian circuits, have received a great deal of attention for giving polynomial-time algorithms of $\#\mathsf{P}$-hard problems. Much work has been done to determine the extent of what this…

We propose a federated algorithm for reconstructing images using multimodal tomographic data sourced from dispersed locations, addressing the challenges of traditional unimodal approaches that are prone to noise and reduced image quality.…

We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body solvers struggle with the high nonlinearity induced by…

A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…

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…

This paper presents a description and analysis of a rational cubic spline FIF (RCSFIF) that has two shape parameters in each subinterval when it is defined implicitly. To be precise, we consider the iterated function system (IFS) with…

Automatically creating a computer program using input-output examples can be a challenging task, especially when trying to synthesize computer programs that require loops or recursion. Even though the use of recursion can make the…

Origami as a deployable structure offers the unique advantage of achieving compact stowage via flat-folding while forming a well-defined surface composed of rigid panels upon deployment. However, since origami consists of flat facets, it is…