AF:Medium:Collaborative:RUI:Structure in Motion:Algorithms for Kinematic Design

AF：中：协作：RUI：运动结构：运动设计算法

• 批准号: 1703765
• 负责人: Ileana Streinu
• 金额: $ 91.72万
• 依托单位: Smith College
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-06-01 至 2023-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1703765&HistoricalAwards=false
• 关键词: AF; Medium; Collaborative; RUI; Structure

New technologies and techniques in robotics (miniature fabrication), computational biology (DNA assembly), material science (nano-technology), and even origami give rise to new questions in kinematic design ? the design of moving assemblies. This project addresses the theory and corresponding algorithms for a number of fundamental problems in kinematic design. The goal is to design the shape of a (deformable) geometric object, along with one or a family of its deformation trajectories. In robotics, for instance, one may want to build a robot arm capable of moving its end-effector from any point in a source domain to any point in a destination domain (geometric structure design), in a way that would avoid singularities and collisions (trajectory design). In manufacturing and CAD, one is interested in designing structures that can be assembled from standard smaller parts; for example, a polyhedral surface might be assembled from rigid triangular pieces whose sides are joined together. Another example is folding a 3D origami shape from a creased piece of (flat) paper: both the 3D shape and the folding trajectories have to be designed in advance. The results are anticipated to have an impact on several scientific fields where geometric modeling and geometric simulations are being used, including mechanics, robotics, computational biology and materials science (nano-technology). The project will engage a diverse population of students, at all levels (post-doc, graduate and undergraduate). The PIs will develop new educational materials related to emerging multidisciplinary connections.New kinematic design principles rely on the mutual dependence of mobility and structure. Recent results of the PIs on robot-arm singularities and precise positional workspace determination provide insights and techniques for an integrated approach, which coordinates structural parameters and path-planning. For innovative patterns of metamaterials with auxetic capabilities, a rigorous geometric theory of periodic frameworks will be combined with efficient algorithms for framework generation and visualization. Advancing these methods will throw new light on conformational changes in crystals and biological self-assembly problems.

机器人学(微型制造)、计算生物学(DNA组装)、材料科学(纳米技术)甚至折纸技术中的新技术和新技术在运动学设计中引发了新的问题？移动组件的设计。本项目研究运动学设计中若干基本问题的理论和相应的算法。目标是设计(可变形)几何对象的形状，以及它的一个或一系列变形轨迹。例如，在机器人学中，人们可能想要建造一种能够将其末端执行器从源域中的任何点移动到目的域中的任何点的机器人手臂(几何结构设计)，以避免奇点和碰撞(轨迹设计)。在制造业和计算机辅助设计中，人们感兴趣的是设计可以由标准的较小零件组装的结构；例如，多面体曲面可能是由侧面连接在一起的刚性三角形零件组装而成的。另一个例子是在一张有折痕的(平面)纸上折叠3D折纸形状：3D形状和折叠轨迹都必须事先设计。这些结果预计将对使用几何建模和几何模拟的几个科学领域产生影响，包括力学、机器人、计算生物学和材料科学(纳米技术)。该项目将吸引不同层次的学生(博士后、研究生和本科生)。PIS将开发与新兴的多学科联系相关的新教材。新的运动学设计原则依赖于移动性和结构的相互依赖。关于机器人手臂奇异性和精确位置工作空间确定的PI的最新结果为协调结构参数和路径规划的综合方法提供了见解和技术。对于具有生长能力的超材料创新图案，严格的周期骨架几何理论将与高效的骨架生成和可视化算法相结合。这些方法的发展将为晶体的构象变化和生物自组装问题带来新的曙光。

项目成果

Auxetic interval determination and experimental validation for a three-dimensional periodic framework

• DOI: 10.1177/10812865211041390
• 发表时间: 2021-08-31
• 期刊: MATHEMATICS AND MECHANICS OF SOLIDS
• 影响因子: 2.6
• 作者: Borcea, Ciprian S.;Broeren, Freek G. J.;van der Wijk, Volkert
• 通讯作者: van der Wijk, Volkert

Auxetic Regions in Large Deformations of Periodic Frameworks

• DOI: 10.1007/978-3-030-16423-2_18
• 发表时间: 2018-05
• 期刊: Interdisciplinary Applications of Kinematics
• 作者: Ciprian S. Borcea;I. Streinu

Periodic tilings and auxetic deployments

• DOI: 10.1177/1081286520948116
• 发表时间: 2020-08-24
• 期刊: MATHEMATICS AND MECHANICS OF SOLIDS
• 影响因子: 2.6
• 作者: Borcea, Ciprian S.;Streinu, Ileana
• 通讯作者: Streinu, Ileana

Efficient pebble game algorithms engineered for protein rigidity applications

专为蛋白质刚性应用而设计的高效卵石游戏算法

• DOI: 10.1109/iccabs.2017.8114301
• 发表时间: 2017
• 期刊: 2017 IEEE 7th International Conference on Computational Advances in Bio- and Medical Sciences (ICCABS
• 作者: Bygi, Mojtaba Nouri;Streinu, Ileana
• 通讯作者: Streinu, Ileana

Auxetic deformations and elliptic curves

• DOI: 10.1016/j.cagd.2018.02.003
• 发表时间: 2018-03-01
• 期刊: COMPUTER AIDED GEOMETRIC DESIGN
• 影响因子: 1.5
• 作者: Borcea, Ciprian S.;Streinu, Ileana
• 通讯作者: Streinu, Ileana