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

A fundamental theorem of Laman characterises when a bar-joint framework realised generically in the Euclidean plane admits a non-trivial continuous deformation of its vertices. This has recently been extended in two ways. Firstly to…

We study the rigidity of body-and-cad frameworks which capture the majority of the geometric constraints used in 3D mechanical engineering CAD software. We present a combinatorial characterization of the generic minimal rigidity of a subset…

In this paper, a novel kinematic framework for fiber-reinforced composite materials is presented. For this purpose, we use the multiple natural configurations in conjunction with the multi-continuum theory of Bedford and Stern~(1972).…

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…

The indicator matrix plays an important role in machine learning, but optimizing it is an NP-hard problem. We propose a new relaxation of the indicator matrix and prove that this relaxation forms a manifold, which we call the Relaxed…

We show that the factor graph and certifiable estimation paradigms, which have thus far been treated as essentially independent in the literature, can be naturally synthesized into a unified framework for certifiable factor graph…

Federated learning (FL), as a collaborative distributed training paradigm with several edge computing devices under the coordination of a centralized server, is plagued by inconsistent local stationary points due to the heterogeneity of the…

In this paper, we develop a framework for solving inverse deformation problems using the FEniCS Project finite element software. We validate our approach with experimental imaging data acquired from a soft silicone beam under gravity. In…

The paper demonstrates that invariant foliations are accurate, data-efficient and practical tools for data-driven modelling of physical systems. Invariant foliations can be fitted to data that either fill the phase space or cluster about an…

Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…

The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing…

Graph learning from data represents a canonical problem that has received substantial attention in the literature. However, insufficient work has been done in incorporating prior structural knowledge onto the learning of underlying…

A number of recent papers have studied when symmetry causes frameworks on a graph to become infinitesimally flexible, or stressed, and when it has no impact. A number of other recent papers have studied special classes of frameworks on…

We present a simple set of data structures, and a collection of methods for constructing and updating the structures, designed to support the use of cohesive elements in simulations of fracture and fragmentation. Initially all interior…

Federated learning enables training on a massive number of edge devices. To improve flexibility and scalability, we propose a new asynchronous federated optimization algorithm. We prove that the proposed approach has near-linear convergence…

We propose a unified, few-step generative modeling framework based on \emph{cumulative flow maps} for long-range transport in probability space, inspired by flow-map techniques for physical transport and dynamics. At its core is a…

We propose Riemannian Flow Matching (RFM), a simple yet powerful framework for training continuous normalizing flows on manifolds. Existing methods for generative modeling on manifolds either require expensive simulation, are inherently…

Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…

In this paper, we study how to fold a specified origami crease pattern in order to minimize the impact of paper thickness. Specifically, origami designs are often expressed by a mountain-valley pattern (plane graph of creases with relative…

The dramatic effect kirigami, such as hole cutting, has on the elastic properties of thin sheets invites a study of the mechanics of thin elastic frames under an external load. Such frames can be thought of as modular elements needed to…