Today's actuators, even the state-of-the-art ones, are still largely made from metals, hard plastics and electronics. But there are other ideas around. Tolley and his colleagues have been working on a very different approach.
优点： 梯度连续，优化更稳定。
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Quadtree-based image compression formats and level-of-detail systems all work this way. Satellite imagery, terrain rendering, and geographic information systems use quadtree decomposition to serve data at varying resolutions: zoomed out, you see large coarse blocks; zoomed in, you see fine-grained tiles. The same principle extends to three dimensions (octrees) for volume rendering and 3D spatial indexing.
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Source: Computational Materials Science, Volume 267，详情可参考快连下载安装
Gerd Baumgarten