arXiv subjects

Alvo Aabloo

Publications and source records attributed to Alvo Aabloo.

14 recordsLinked to original sources

arXiv2026

Receptogenesis in a Vascularized Robotic Embodiment

Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends physical adaptability. Unlike modular systems that rely on discrete component integration pre- or post-deployment, we envision physical adaptation through continuous in-body development via hardware synthesis. Drawing inspiration from circulatory systems that redistribute mass and function in biological organisms, we utilize fluidics to restructure the material interface, a capability currently unmatched in robotics. Here, we realize this proof-of-concept hardware generation through a vascularized robotic composite designed for programmable material synthesis, demonstrated via receptogenesis - the on-demand construction of sensors. By coordinating the fluidic transport of precursors with external localized UV irradiation, we drove an $\textit{in situ}$ photopolymerization that chemically reconstructed the vasculature from the inside out. This reaction converted precursors with photolatent initiator into a solid dispersion of UV-sensitive polypyrrole in PETG, establishing a sensing modality validated by a characteristic decrease in electrical impedance. The newly synthesized sensor closed a local control loop in real time to regulate wing flapping in a moth-inspired robotic demonstrator. Our work is a proof-of-concept materials basis for $\textit{ex novo}$ hardware generation in a vascularized composite - a step towards situated robots adapting to environmental cues.

cs.RO↗

arXiv2023

PRIEST: Projection Guided Sampling-Based Optimization For Autonomous Navigation

Efficient navigation in unknown and dynamic environments is crucial for expanding the application domain of mobile robots. The core challenge stems from the nonavailability of a feasible global path for guiding optimization-based local planners. As a result, existing local planners often get trapped in poor local minima. In this paper, we present a novel optimizer that can explore multiple homotopies to plan high-quality trajectories over long horizons while still being fast enough for real-time applications. We build on the gradient-free paradigm by augmenting the trajectory sampling strategy with a projection optimization that guides the samples toward a feasible region. As a result, our approach can recover from the frequently encountered pathological cases wherein all the sampled trajectories lie in the high-cost region. Furthermore, we also show that our projection optimization has a highly parallelizable structure that can be easily accelerated over GPUs. We push the state-of-the-art in the following respects. Over the navigation stack of the Robot Operating System (ROS), we show an improvement of 7-13% in success rate and up to two times in total travel time metric. On the same benchmarks and metrics, our approach achieves up to 44% improvement over MPPI and its recent variants. On simple point-to-point navigation tasks, our optimizer is up to two times more reliable than SOTA gradient-based solvers, as well as sampling-based approaches such as the Cross-Entropy Method (CEM) and VPSTO. Codes: https://github.com/fatemeh-rastgar/PRIEST

cs.RO↗

arXiv2021

GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot

We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assumption of circular base footprint. Our main algorithmic contributions lie in: (i) improving the computational tractability of the underlying non-convex problem and (ii) leveraging batch computation to mitigate initialization bottlenecks and improve solution quality. We achieve both goals by deriving a multi-convex reformulation of the kinematics and collision avoidance constraints. We exploit these structures through an Alternating Minimization approach and show that the resulting batch operation reduces to computing just matrix-vector products that can be trivially accelerated over GPUs. We improve the state-of-the-art in three respects. First, we improve quality of navigation (success-rate, tracking) as compared to baseline approach that relies on computing a single locally optimal trajectory at each control loop. Second, we show that when initialized with trajectory samples from a Gaussian distribution, our batch optimizer outperforms state-of-the-art cross-entropy method in solution quality. Finally, our batch optimizer is several orders of magnitude faster than the conceptually simpler alternative of running different optimization instances in parallel CPU threads. \textbf{Codes:} \url{https://tinyurl.com/a3b99m8}

cs.RO↗

arXiv2020

GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization

In this paper, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart of our optimizer is a novel reformulation of the non-convex collision avoidance constraints that reduces the core computation in each iteration to that of solving a large scale, convex, unconstrained Quadratic Program (QP). We also show that the matrix factorization/inverse computation associated with the QP needs to be done only once and can be done offline for a given number of agents. This further simplifies the solution process, effectively reducing it to a problem of evaluating a few matrix-vector products. Moreover, for a large number of agents, this computation can be trivially accelerated on GPUs using existing off-the-shelf libraries. We validate our optimizer's performance on challenging benchmarks and show substantial improvement over state of the art in computation time and trajectory quality.

cs.RO↗

arXiv2020

Dynamic coupling between particle-in-cell and atomistic simulations

We propose a method to directly couple molecular dynamics, finite element method and particle-in-cell techniques to simulate metal surface response to high electric fields. We use this method to simulate the evolution of a field emitting tip under thermal runaway by fully including the 3D space-charge effects. We also present a comparison of the runaway process between the two tip geometries of different widths. The results show with high statistical significance that in case of sufficiently narrow field emitters, the thermal runaway occurs in cycles where intensive neutral evaporation alternates with the cooling periods. The comparison with previous works shows, that the evaporation rate in the regime of intensive evaporation is sufficient to ignite a plasma arc above the simulated field emitters.

cs.CE↗

arXiv2020

Growth mechanism for nanotips in high electric fields

In this work we show using atomistic simulations that the biased diffusion in high electric field gradients creates a mechanism whereby nanotips may start growing from small surface asperities. It has long been known that atoms on a metallic surface have biased diffusion if electric fields are applied and that microscopic tips may be sharpened using fields, but the exact mechanisms have not been well understood. Our Kinetic Monte Carlo simulation model uses a recently developed theory for how the migration barriers are affected by the presence of an electric field. All parameters of the model are physically motivated and no fitting parameters are used. The model has been validated by reproducing characteristic faceting patterns of tungsten surfaces that have in previous experiments been observed to only appear in the presence of strong electric fields. The growth effect is found to be enhanced by increasing fields and temperatures.

cond-mat.mtrl-sci↗

arXiv2020

Tungsten migration energy barriers for surface diffusion: a parameterization for KMC simulations

We have calculated the migration barriers for surface diffusion on Tungsten. Our results form a self-sufficient parameterization for Kinetic Monte Carlo simulations of arbitrarily rough atomic tungsten surfaces, as well as nanostructures such as nanotips and nanoclusters. The parameterization includes first- and second-nearest neighbour atom jump processes, as well as a third-nearest neighbour exchange process. The migration energy barriers of all processes are calculated with the Nudged Elastic Band method. The same attempt frequency for all processes is found sufficient and the value is fitted to Molecular Dynamics simulations. The model is validated by correctly simulating with Kinetic Monte Carlo the energetically favourable W nanocluster shapes, in good agreement with Molecular Dynamics simulations.

cond-mat.mtrl-sci↗

arXiv2018

Molecular dynamics simulations of surface modification formations on polycrystalline Cu under high electric fields

Vacuum breakdowns in particle accelerators and other devices operating at high electric fields is a common problem in the operation of these devices. It has been proposed that the onset of vacuum breakdowns is associated with appearance of surface protrusions while the device is in operation under high electric field. Moreover, the breakdown tolerance of an electrode material was correlated with the type of lattice structure of the material. In the current paper we conduct molecular dynamics simulations of nanocrystalline copper surfaces and show the possibility of protrusion growth under the stress exerted on the surface by an applied electrostatic field. We show the importance of grain boundaries on the protrusion formation and establish a linear relationship between the necessary electrostatic stress for protrusion formation and the temperature of the system. We show that time for protrusion formation increases with the lowering electrostatic field and give the Arrhenius extrapolation to the case of lower fields. General discussion of the protrusion formation mechanisms in the case of polycrystalline copper surfaces is presented.

cond-mat.mtrl-sci↗

arXiv2018

Au nanowire junction breakup through surface atom diffusion

Metallic nanowires are known to break into shorter fragments due to the Rayleigh instability mechanism. This process is strongly accelerated at elevated temperatures and can completely hinder the functioning of nanowire-based devices like e.g. transparent conductive and flexible coatings. At the same time, arranged gold nanodots have important applications in electrochemical sensors. In this paper we perform a series of annealing experiments of gold and silver nanowires and nanowire junctions at fixed temperatures 473, 673, 873 and 973 K (200, 400, 600 and 700 °C) during a time period of 10 minutes. We show that nanowires are especially prone to fragmentation around junctions and crossing points even at comparatively low temperatures. The fragmentation process is highly temperature dependent and the junction region breaks up at a lower temperature than a single nanowire. We develop a gold parametrization for Kinetic Monte Carlo simulations and demonstrate the surface diffusion origin of the nanowire junction fragmentation. We show that nanowire fragmentation starts at the junctions with high reliability and propose that aligning nanowires in a regular grid could be used as a technique for fabricating arrays of nanodots.

cond-mat.mtrl-sci↗

arXiv2018

Dynamic coupling of a finite element solver to large-scale atomistic simulations

We propose a method for efficiently coupling the finite element method with atomistic simulations, while using molecular dynamics or kinetic Monte Carlo techniques. Our method can dynamically build an optimized unstructured mesh that follows the geometry defined by atomistic data. On this mesh, different multiphysics problems can be solved to obtain distributions of physical quantities of interest, which can be fed back to the atomistic system. The simulation flow is optimized to maximize computational efficiency while maintaining good accuracy. This is achieved by providing the modules for a) optimization of the density of the generated mesh according to requirements of a specific geometry and b) efficient extension of the finite element domain without a need to extend the atomistic one. Our method is organized as an open-source C++ code. In the current implementation, an efficient Laplace equation solver for calculation of electric field distribution near rough atomistic surface demonstrates the capability of the suggested approach.

cs.CE↗

arXiv2017

Cu self-sputtering MD simulations for 0.1-5 keV ions at elevated temperatures

Self-sputtering of copper under high electric fields is considered to contribute to plasma buildup during a vacuum breakdown event frequently observed near metal surfaces, even in ultra high vacuum condition in different electric devices. In this study, by means of molecular dynamics simulations, we analyze the effect of surface temperature and morphology on the yield of self-sputtering of copper with ion energies of 0.1-5 keV. We analyze all three low-index surfaces of Cu, {100}, {110} and {111}, held at different temperatures, 300 K, 500 K and 1200 K. The surface roughness relief is studied by either varying the angle of incidence on flat surfaces, or by using arbitrary roughened surfaces, which result in a more natural distribution of surface relief variations. Our simulations provide detailed characterization of copper self-sputtering with respect to different material temperatures, crystallographic orientations, surface roughness, energies, and angles of ion incidence.

cond-mat.mtrl-sci↗

arXiv2016

Laser-induced asymmetric faceting and growth of nano-protrusion on a tungsten tip

Irradiation of a sharp tungsten tip by a femtosecond laser and exposed to a strong DC electric field led to gradual and reproducible surface modifications. By a combination of field emission microscopy and scanning electron microscopy, we observed asymmetric surface faceting with sub-ten nanometer high steps. The presence of well pronounced faceted features mainly on the laser-exposed side implies that the surface modification was driven by a laser-induced transient temperature rise -- on a scale of a couple of picoseconds -- in the tungsten tip apex. Moreover, we identified the formation of a nano-tip a few nanometers high located at one of the corners of a faceted plateau. The results of simulations emulating the experimental conditions, are consistent with the experimental observations. The presented conditions can be used as a new method to fabricate nano-tips of few nm height, which can be used in coherent electron pulses generation. Besides the direct practical application, the results also provide insight into the microscopic mechanisms of light-matter interaction. The apparent growth mechanism of the features may also help to explain the origin of enhanced electron field emission, which leads to vacuum arcs, in high electric-field devices such as radio-frequency particle accelerators.

cond-mat.mtrl-sci↗

arXiv2016

Electrodynamics - molecular dynamics simulations of the stability of Cu nanotips under high electric field

The shape memory effect and pseudoelasticity in Cu nanowires is one possible pair of mechanisms that prevents high aspect ratio nanosized field electron emitters to be stable at room temperature and permits their growth under high electric field. By utilizing hybrid electrodynamics molecular dynamics simulations we show that a global electric field of 1 GV/m or more significantly increases the stability and critical temperature of spontaneous reorientation of nanosized <100> Cu field emitters. We also show that in the studied tips the stabilizing effect of an external applied electric field is an order of magnitude greater than the destabilization caused by the field emission current. We detect the critical temperature of spontaneous reorientation using the tool that spots the changes in crystal structure. The method is compatible with techniques that consider the change in potential energy, has a wider range of applicability and allows pinpointing different stages in the reorientation processes.

cond-mat.mtrl-sci↗

arXiv2014

First-principles study of point defects at semicoherent interface

Modeling semicoherent metal-metal interfaces has so far been performed using atomistic simulations based on semiempirical interatomic potentials. We demonstrate through more precise ab-initio calculations that key conclusions drawn from previous studies do not conform with the new results which show that single point defects do not delocalize near the interfacial plane, but remain compact. We give a simple qualitative explanation for the difference in predicted results that can be traced back to shortcomings in potential fitting.

cond-mat.mtrl-sci↗