Interactive Co-Design of Form and Function for Legged Robots using the Adjoint Method

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design legged robots with desired morphologies and behaviors by specifying higher level descriptions. The core of our method is a design optimization technique that reasons about the structure, and motion of a robot in coupled manner in order to achieve user-specified robot behavior, and performance. We are inspired by the recent works that also aim to jointly optimize robot's form and function. However, through efficient computation of necessary design changes, our approach enables us to keep user-in-the-loop for interactive applications. We evaluate our system in simulation by automatically improving robot designs for multiple scenarios. Starting with initial user designs that are physically infeasible or inadequate to perform the user-desired task, we show optimized designs that achieve user-specifications, all while ensuring an interactive design flow.Comment: 8 pages; added link of the accompanying vide

Supplier Portfolio Selection and Optimum Volume Allocation: A Knowledge Based Method

Selection of suppliers and allocation of optimum volumes to suppliers is a strategic business decision. This paper presents a decision support method for supplier selection and the optimal allocation of volumes in a supplier portfolio. The requirements for the method were gathered during a case study that was conducted within the logistics unit of Shell Chemicals Europe. The proposed method is based on the classical view by Sprague and Carlson of sequence and interaction of the different phases of decision making in a decision support system and supports Kraljic’s portfolio approach for supplier management. This method aims to help the managers in making decisions on the allocation of volumes to suppliers while simultaneously trying to satisfy conflicting objectives of improvement in benefit and reduction in risk. A mathematical model to struc-ture the problem is presented, knowledge elicited from the managers is used to parameterize the mathemati-cal model and a multi-objective, hierarchical optimization procedure produces ‘trade-off’ outputs. The man-agers can also conduct interactive post optimization ‘what-if’ analysi

Development Of Information Visualization Methods For Use In Multimedia Applications

The aim of the article is development of a technique for visualizing information for use in multimedia applications. In this study, to visualize information, it is proposed first to compile a list of key terms of the subject area and create data tables. Based on the structuring of fragments of the subject area, a visual display of key terms in the form of pictograms, a visual display of key terms in the form of images, and a visual display of data tables are performed. The types of visual structures that should be used to visualize information for further use in multimedia applications are considered. The analysis of existing visual structures in desktop publishing systems and word processors is performed.To build a mechanism for visualizing information about the task as a presentation, a multimedia application is developed using Microsoft Visual Studio software, the C# programming language by using the Windows Forms application programming interface. An algorithm is proposed for separating pieces of information text that have key terms. Tabular data was visualized using the “parametric ruler” metaphorical visualization method, based on the metaphor of a slide rule.The use of the parametric ruler method on the example of data visualization for the font design of children's publications is proposed. Interaction of using the method is ensured due to the fact that the user will enter the size of the size that interests for it and will see the ratio of the values of other parameters. The practical result of the work is the creation of a multimedia application “Visualization of Publishing Standards” for the visualization of information for the font design of publications for children. The result of the software implementation is the finished multimedia applications, which, according to the standardization visualization technique in terms of prepress preparation of publications, is the final product of the third stage of the presentation of the visual for

Research and Education in Computational Science and Engineering

Over the past two decades the field of computational science and engineering (CSE) has penetrated both basic and applied research in academia, industry, and laboratories to advance discovery, optimize systems, support decision-makers, and educate the scientific and engineering workforce. Informed by centuries of theory and experiment, CSE performs computational experiments to answer questions that neither theory nor experiment alone is equipped to answer. CSE provides scientists and engineers of all persuasions with algorithmic inventions and software systems that transcend disciplines and scales. Carried on a wave of digital technology, CSE brings the power of parallelism to bear on troves of data. Mathematics-based advanced computing has become a prevalent means of discovery and innovation in essentially all areas of science, engineering, technology, and society; and the CSE community is at the core of this transformation. However, a combination of disruptive developments---including the architectural complexity of extreme-scale computing, the data revolution that engulfs the planet, and the specialization required to follow the applications to new frontiers---is redefining the scope and reach of the CSE endeavor. This report describes the rapid expansion of CSE and the challenges to sustaining its bold advances. The report also presents strategies and directions for CSE research and education for the next decade.Comment: Major revision, to appear in SIAM Revie