Related papers: Uniqueness Domains in the Workspace of Parallel Ma…
Model merging integrates multiple task-specific models into a single consolidated one. Recent research has made progress in improving merging performance for in-distribution or multi-task scenarios, but domain generalization in model…
We present two parallel optimization algorithms for a convex function $f$. The first algorithm optimizes over linear inequality constraints in a Hilbert space, $\mathbb H$, and the second over a non convex polyhedron in $\mathbb R^n$. The…
The asymptotic behavior of the first eigenvalues of magnetic Laplacian operators with large magnetic fields and Neumann realization in smooth three-dimensional domains is characterized by model problems inside the domain or on its boundary.…
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the end-users (surgeons), stakeholders (designers, ergonomic…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
Motivated by importance of operator spaces contained in the set of all scalar multiples of isometries ($MI$-spaces) in a separable Hilbert space for $C^*$-algebras and E-semigroups we exhibit more properties of such spaces. For example, if…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…
In representations using frames, oblique duality appears in situations where the analysis and the synthesis has to be done in different subspaces. In some cases, we cannot obtain an explicit expression for the oblique duals and in others…
We describe a new Maple package for treating boundary problems for linear ordinary differential equations, allowing two-/multipoint as well as Stieltjes boundary conditions. For expressing differential operators, boundary conditions, and…
A new method for the simulation of evolving multi-domains problems has been introduced in a previous work (RealIMotion), Florez et al. (2020). In this article further developments of the model will be presented. The main focus here is a…
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms and parallel kinematic architectures.…
The three-dimensional potential equation, motivated by representations of quantum mechanics, is investigated in four different scenarios: (i) In the usual Euclidean space $\mathbb{E}_{3}$ where the potential is singular but invariant under…
Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy…
Discretizations of infinite-dimensional variational inequalities lead to linear and nonlinear complementarity problems with many degrees of freedom. To solve these problems in a parallel computing environment, we propose two active-set…
Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable…
In our previous work [SIAM J. Sci. Comput. 43(3) (2021) B784-B810], an accurate hyper-singular boundary integral equation method for dynamic poroelasticity in two dimensions has been developed. This work is devoted to studying the more…