Physics-based Modeling for Computational Fabrication and Robotics

This course covers fundamentals of physics-based modelling and numerical optimization from the perspective of computational fabrication and robotics applications.
Students will learn how to represent, model and algorithmically control the behavior of complex physical systems through simulation-based methodologies. The lectures are accompanied by programming assignments (written in C++), hand-on exercises involving digital fabrication technologies, as well as a capstone project.

Course Objectives

Students will learn how to represent, model and algorithmically control the behavior of complex physical systems through simulation-based methodologies. The lectures are accompanied by programming assignments (written in C++), hand-on exercises involving digital fabrication technologies, as well as a capstone project.

Prerequisites

Experience with C++ programming, numerical linear algebra and multivariate calculus. Some background in physics-based modeling, kinematics and dynamics is helpful, but not necessary.

	Lecture			Tutorial		Assignments
Week	Date	Topic	Slides	Date	Topic	Due	Out
1	20.2.19	Introduction	Intro 1 Intro 2 3dPrinting Design Synthesis	22.2.19	Setting things up		A0
2	27.2.19	Primer on Numerical Optimization	Numerical Optimization	1.3.19	Tutorial for A1		A1
3	6.3.19	Kinematics of Mechanisms (Simulation & Design)	Kinematics of Mechanisms	8.3.19	Q&A A1
4	13.3.19	Rigid Body Dynamics / Mass Distribution Optimization	Rigid Body Dynamics	15.3.19	Tutorial for A2	A1	A2
5	20.3.19	Modeling Elastic Objects (FEM)	Modeling Elastic Objects NonlinearElasticity.mw	22.3.19	Onshape and Q&A Assign. 2
6	27.3.19	Design Optimization (Sensitivity Analysis)	Puppet Master Sensitivity Analysis	29.3.19	Project proposals Q&A	A2
7	3.4.19	Project Proposals		5.4.19	Tutorial for A3		A3
8	10.4.19	AM Overview	AM Overview	12.4.19	No tutorial
9	17.4.19	Generative Design	Shape Grammars Applications to Soft Robot Design	19.4.19	Easter break	A3
	24.4.19	Easter break			Easter break
	1.5.19	Labor day		3.5.19	Q&A projects
10	8.5.19	Generative Design: Graph Grammars	Graph Grammars	9.5.19	Q&A projects
11	15.5.19	Advanced Topics	Metamaterials	17.5.19	Q&A projects
12	22.5.19	Advanced Topics		24.5.19	Q&A projects
13	29.5.19	No class		31.5.19	Project Presentations	Project