{"id":20220703,"url":"https://github.com/tp5uiuc/soft_systems_course","last_synced_at":"2025-10-05T09:49:19.415Z","repository":{"id":48598320,"uuid":"444334343","full_name":"tp5uiuc/soft_systems_course","owner":"tp5uiuc","description":"Course on computational design, non-linear optimization, and dynamics of soft systems at UIUC. ","archived":false,"fork":false,"pushed_at":"2022-07-31T05:10:15.000Z","size":21300,"stargazers_count":7,"open_issues_count":0,"forks_count":3,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-09-04T22:53:31.678Z","etag":null,"topics":["cmaes","numerical-methods","optimization","python","soft-robotics"],"latest_commit_sha":null,"homepage":"https://parthas1.github.io/teaching/","language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/tp5uiuc.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":"CITATION.cff","codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2022-01-04T08:01:50.000Z","updated_at":"2024-12-14T21:44:02.000Z","dependencies_parsed_at":"2022-09-07T23:51:45.991Z","dependency_job_id":null,"html_url":"https://github.com/tp5uiuc/soft_systems_course","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/tp5uiuc/soft_systems_course","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tp5uiuc%2Fsoft_systems_course","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tp5uiuc%2Fsoft_systems_course/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tp5uiuc%2Fsoft_systems_course/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tp5uiuc%2Fsoft_systems_course/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/tp5uiuc","download_url":"https://codeload.github.com/tp5uiuc/soft_systems_course/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tp5uiuc%2Fsoft_systems_course/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":278437947,"owners_count":25986760,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-05T02:00:06.059Z","response_time":54,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cmaes","numerical-methods","optimization","python","soft-robotics"],"created_at":"2024-11-14T06:47:22.769Z","updated_at":"2025-10-05T09:49:19.385Z","avatar_url":"https://github.com/tp5uiuc.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"Computational Design and Dynamics of Soft Systems\n\u0026middot;\n[![license](https://img.shields.io/badge/license-MIT-green)](https://mit-license.org/)\n=====\n\nThis is a repository that contains the source code for generating the lecture\nnotes, handouts, exercises for the computational lab-sessions of the course\noffered at UIUC.\n\n## Description\n\u003e This course provides a hands-on introduction to modern modeling and\nsimulations techniques for heterogeneous structures made of assemblies of soft,\nelastic slender elements. Such systems are ubiquitous in nature, from animal\nmusculoskeletal architectures to ‘birds-nest’ composite materials. They are also\nbecoming increasingly relevant in robotics. Students will implement in python\ntheir own Cosserat rods-based solver. The developed solver will be then coupled\nwith evolutionary optimization techniques for design, and reinforcement learning\nfor control.\n\n## Prerequisities\nNone.\n\n## Content\n-\tIntroduction to modeling and simulation for inverse design\n-\tBasics of evolutionary strategies\n-\tCovariance Matrix Adaptation – Evolution Strategy (CMA-ES)\n-\tBasic concepts of Reinforcement Learning\n-\tSoft robotic modeling with Cosserat rods\n-\tSpace and time discretization\n-\tApplication to snake slithering\n-\tComplex creatures modeling\n-\tExamples of potential experimental applications\n\n## Organization\nThe course is organized in three modules listed below.\n- Python for engineers\n  - [Crash course in Python for engineers](lectures/01_intro)\n\t- [Scientific computing via Python](lectures/02_scicomp)\n- Non-linear stochastic optimization\n  - [Implementing CMA-es for nonlinear stochastic optimization](lectures/03_cma)\n\t- [Adopting CMA-es to tackle real-life inverse-design\n    problems](lectures/03_cma)\n- Modeling of soft systems\n  - [Rotational dynamics of slender rods and its numerical resolution](lectures/04_elastica)\n  - [Temporal dynamics of soft systems and its numerical resolution](lectures/05_timeintegration)\n  - [Spatial dynamics of soft systems and its numerical resolution](lectures/06_spaceintegration)\n\t- [Putting the components together](lectures/07_timespace)\n- [Visualizing soft-system dynamics](lectures/08_povray)\n\n## Setup\nTo get started with the course, please consult [this folder](handouts/00_linux).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftp5uiuc%2Fsoft_systems_course","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftp5uiuc%2Fsoft_systems_course","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftp5uiuc%2Fsoft_systems_course/lists"}