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.

机器人技术（微型制造），计算生物学（DNA组装），材料科学（纳米技术）甚至折纸的新技术和技术都引起了运动学设计的新问题？移动组件的设计。 该项目解决了运动设计中许多基本问题的理论和相应算法。目的是设计（可变形）几何对象的形状，以及其变形轨迹的一个或一个家庭。例如，在机器人技术中，人们可能想建立能够将其最终效果从源域中的任何点移动到目标域（几何结构设计）的任何点的机器人臂，以避免奇异性和碰撞（轨迹设计）。在制造业和CAD中，人们有兴趣设计可以从标准较小零件组装的结构。例如，可以从刚性三角形的碎片中组装多面体表面，其侧面的侧面被连接在一起。另一个例子是从一块折痕的（平坦）纸上折叠3D折纸形状：3D形状和折叠轨迹都必须提前设计。预计该结果将对正在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，机器人技术，计算生物学和材料科学（纳米技术）。 该项目将在各个级别的学生（大多数后，研究生和本科生）中吸引各种各样的学生。 PI将开发与新兴的多学科联系有关的新教育材料。新的运动设计原理依赖于流动性和结构的相互依赖性。 PI对机器人臂奇点和精确的位置工作区确定的结果为综合方法提供了见解和技术，该方法协调结构参数和路径规划。对于具有辅助能力的超材料的创新模式，定期框架的严格几何理论将与有效的算法结合使用，以生成框架和可视化。推进这些方法将为晶体和生物自组装问题的构象变化提供新的启示。

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

Auxetics abounding

• DOI: 10.1109/remar.2018.8449905
• 发表时间: 2018-01-01
• 期刊: 4 IEEEIFTOMM INT CON
• 作者: Borcea, CS;Streinu, I.
• 通讯作者: Streinu, I.

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