This paper presents the implementation of a self-replicating finite-state machine (FSM) and a self-replicating Turing Machine (TM) using bio-inspired mechanisms. Building on previous work that introduced self-replicating structures capable of sorting, copying, and reading information, this study demonstrates the computational power of these mechanisms by explicitly constructing a functioning FSM and TM. This study demonstrates the universality of the system by emulating the UTM(5,5) of Neary and Woods.

Garments with the ability to provide kinesthetic force-feedback on-demand can augment human capabilities in a non-obtrusive way, enabling numerous applications in VR haptics, motion assistance, and robotic control. However, designing such garments is a complex, and often manual task, particularly when the goal is to resist multiple motions with a single design. In this work, we propose a computational pipeline for designing connecting structures between active components - one of the central challenges in this context. We focus on electrostatic (ES) clutches that are compliant in their passive state while strongly resisting elongation when activated. Our method automatically computes optimized connecting structures that efficiently resist a range of pre-defined body motions on demand. We propose a novel dual-objective optimization approach to simultaneously maximize the resistance to motion when clutches are active, while minimizing resistance when inactive. We demonstrate our method on a set of problems involving different body sites and a range of motions. We further fabricate and evaluate a subset of our automatically created designs against manually created baselines using mechanical testing and in a VR pointing study.

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new tasks are crucial to stay competitive. We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. The proposed approach covers dual-arm and even multi-arm robots as well as connected machines. The key concept are Ordered Visiting Constraints, a descriptive and extensible model to specify such tasks with their spatiotemporal requirements and task-specific combinatorial or ordering constraints. Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. The proposed task model is robot independent and thus can easily be deployed to other robotic platforms. Flexibility and portability of our proposed model is validated through several experiments on different simulated robot platforms. We benchmarked our search strategy against a general-purpose heuristic. For large manipulation tasks with 200 objects, our solver implemented using Google's Operations Research tools and ROS requires less than a minute to compute usable plans.

This paper addresses the problem of identifying a lower dimensional space where observed data can be sparsely represented. This under-complete dictionary learning task can be formulated as a blind separation problem of sparse sources linearly mixed with an unknown orthogonal mixing matrix. This issue is formulated in a Bayesian framework. First, the unknown sparse sources are modeled as Bernoulli-Gaussian processes. To promote sparsity, a weighted mixture of an atom at zero and a Gaussian distribution is proposed as prior distribution for the unobserved sources. A non-informative prior distribution defined on an appropriate Stiefel manifold is elected for the mixing matrix. The Bayesian inference on the unknown parameters is conducted using a Markov chain Monte Carlo (MCMC) method. A partially collapsed Gibbs sampler is designed to generate samples asymptotically distributed according to the joint posterior distribution of the unknown model parameters and hyperparameters. These samples are then used to approximate the joint maximum a posteriori estimator of the sources and mixing matrix. Simulations conducted on synthetic data are reported to illustrate the performance of the method for recovering sparse representations. An application to sparse coding on under-complete dictionary is finally investigated.