Charles A. Manion

University of Maryland, College Park | UMD, UMCP, University of Maryland College Park · Department of Mechanical Engineering

This paper presents a method for the systematic and automated design of flexible organic linkers for construction of metal organic-frameworks (MOFs) in which flexibility, compliance, or other mechanically exotic properties originate at the linker level rather than from the framework kinematics. Our method couples a graph grammar method for systemat...

This paper presents a Multiagent Systems based design approach for designing a self-replicating robotic manufacturing factory in space. Self-replicating systems are complex and require the coordination of many tasks which are difficult to control. This paper presents an innovative concept using Multiagent Systems to design a robotic factory for spa...

Metal Organic Responsive Frameworks (MORFs) are a proposed new class of smart materials consisting of a Metal Organic Framework (MOF) with photoisomerizing beams (also known as linkers) that fold in response to light. Within a device these new light responsive materials could provide the capabilities such as photo-actuation, photo-tunable rigidity,...

Metal organic Frameworks(MOFs) that experience stimuli induced structural transformation could enable a whole new class of materials with remarkable properties. Photoactuating moieties in the structure could effect changes in the pore space or macroscale shape change enabling light driven gas separation and actuators. Here, we present a novel appro...

Current computational Design Synthesis approaches have had trouble generating components with higher kinematic pairs and have instead relied on libraries of predefined components. However, higher kinematic pairs are ubiquitous in many mechanical devices such as ratchets, latches, locks, trigger mechanisms , clock escapements, and materials handling...

his work demonstrates fully 3D printed donut type HASEL actuators fabricated using inkjet additive manufacturing. In addition, we also present a coupled electrical, hydraulic, non-linear elastic model of these actuators to predict the actuation strain. This model was tested on 3D printed HASEL actuators and was found to be in good agreement with ex...

Design of new and advanced materials with shape-shifting or origami-like capabilities is an area that bears a strong similarity to the design of electromechanical products yet has not leveraged such systematic approaches. In this paper, computational methods to design Metal Organic Responsive Frameworks (MORFs) — which are a theoretical type of mat...

Assembly planning is difficult and tedious, but is necessary for complex products. This thesis presents a novel approach to automating assembly planning utilizing graph grammars. Computational geometric reasoning is used to produce a label rich graph from a CAD model. This graph is then modified by graph grammar rules to produce candidate assembly...

Turning a robot, particularly an under-actuated bipedal humanoid robot, is challenging. Several methods proposed in the literature for producing human-like motion in such robots are innovative but are limited in their range of motion. This paper presents an approach to control the orientation of a robot using a control moment gyroscope (CMG). A dem...

Assembly planning is an important task for manufacturing industrial products. The ability to automate and optimize the process is crucial as it can improve the production time, cost and efficiency. In general, the planning procedure involves two main reasoning stages, one is based on geometric reasoning and the other is based on AI tree-search. In...

With the increase in computer-controlled hybrid machining (e.g. mill-turn machines), one needs to discern what features of a part are created during turning (i.e. with a lathe cutter) versus those created by milling. Given a generic part shape, it is desirable to extract the turnable and non-turnable features in order to obtain feasible machining p...