Related papers: L'orthoglide : une machine-outil rapide d'architec…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stability. Two hardware platforms and analytical models were…
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…
To achieve high performance on modern computers, it is vital to map algorithmic parallelism to that inherent in the hardware. From an application developer's perspective, it is also important that code can be maintained in a portable manner…
The objective of this research is to develop an advanced controller for CNC machines equipped with Hexaglide parallel mechanisms. While traditional CNC machines employ mechanisms with perpendicular axes, accuracy may be compromised when…
We present a new training methodology for transformers using a multilevel, layer-parallel approach. Through a neural ODE formulation of transformers, our application of a multilevel parallel-in-time algorithm for the forward and…
We have designed and built a new type of CCD that we call an orthogonal transfer CCD (OTCCD), which permits parallel clocking horizontally as well as vertically. The device has been used successfully to remove image motion caused by…
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
orthoDr is a package in R that solves dimension reduction problems using orthogonality constrained optimization approach. The package serves as a unified framework for many regression and survival analysis dimension reduction models that…
This work deals with shape optimization of electric machines using isogeometric analysis. Isogeometric analysis is particularly well suited for shape optimization as it allows to easily modify the geometry without remeshing the domain. A…
In this study, the orthogonalization process for different inner products is applied to pairwise comparisons. Properties of consistent approximations of a given inconsistent pairwise comparisons matrix are examined. A method of a derivation…
Motivated by results on the mobility of mechanical devices called pentapods, this paper deals with a mathematically freestanding problem, which we call M\"obius Photogrammetry. Unlike traditional photogrammetry, which tries to recover a set…
To design efficient parallel algorithms, some recent papers showed that many sequential iterative algorithms can be directly parallelized but there are still challenges in achieving work-efficiency and high-parallelism. Work-efficiency can…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
The level-set method of topology optimization is used to design isotropic two-phase periodic multifunctional composites in three dimensions. One phase is stiff and insulating whereas the other is conductive and mechanically compliant. The…
Machine translation is one of the applications of natural language processing which has been explored in different languages. Recently researchers started paying attention towards machine translation for resource-poor languages and closely…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Many engineering processes exist in the industry, text books and international standards. However, in practice rarely any of the processes are followed consistently and literally. It is observed across industries the processes are altered…