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In Autonomous Driving, cyclists belong to the safety-critical class of Vulnerable Road Users (VRU), and accurate estimation of their pose is critical for cyclist crossing intention classification, behavior prediction, and collision…
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
This paper presents an inverse kinematic optimization layer (IKOL) for 3D human pose and shape estimation that leverages the strength of both optimization- and regression-based methods within an end-to-end framework. IKOL involves a…
In this paper, we consider a discontinuous Dirac operator depending polynomially on the spectral parameter and a finite number of transmission conditions. We get some properties of eigenvalues and eigenfunctions. Then, we investigate some…
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…
Current state of the art preconditioners for the reduced Hessian and the Karush-Kuhn-Tucker (KKT) operator for large scale inverse problems are typically based on approximating the reduced Hessian with the regularization operator. However,…
Motivated by examples obtained from conformal deformations of spectral triples and a spectral triple construction on quantum cones we propose a new twisted reality condition for the Dirac operator.
After presenting the main difficulties related to machining 5 axes machining within the context of HSM, we present a surface model of 5-axis trajectories allowing taking into account geometrical and kinematical constraints. This model is…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
When a mobile manipulator's wheel loses contact with the ground, tipping-over may occur, causing material damage, and in the worst case, it can put human lives in danger. The tip-over stability of wheeled mobile manipulators must not be…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
New boundary conditions for integrable nonlinear lattices of the XXX type, such as the Heisenberg chain and the Toda lattice are presented. These integrable extensions are formulated in terms of a generic XXX Heisenberg magnet interacting…
A broad range of nonlinear processes over networks are governed by threshold dynamics. So far, existing mathematical theory characterizing the behavior of such systems has largely been concerned with the case where the thresholds are…
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the human-exoskeleton system and the stringent…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
The quantum constraint equations for a relativistic three-dimensional harmonic oscillator are shown to find concise expression in terms of Lorentz covariant ladder operators. These ladder operators consist of two conjugate 4-vectors that…
In this article we propose a novel nonstationary iterated Tikhonov (NIT) type method for obtaining stable approximate solutions to ill-posed operator equations modeled by linear operators acting between Hilbert spaces. Geometrical…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
In this paper we consider differential opeartor L=d^4_x + u(x). We find the commutativity condition for operator L with a differential operator M of order 4g+2, where L and M are operators of rank 2. Some examples are constructed. These…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…