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The conditions under which matrix orientifolding and supersymmetry transformations commute are known to be stringent. Here we present the cases possessing four or eight supercharges upon ${\bf Z}_3$ orbifolding followed by matrix…
To control humanoid robots, the reference pose of end effector(s) is planned in task space, then mapped into the reference joints by IK. By viewing that problem as approximate quadratic programming (QP), recent QP solvers can be applied to…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
This paper aims at the most comprehensive and systematic construction and tabulation of mechanical systems that admit a second invariant, quadratic in velocities, other than the Hamiltonian. The configuration space is in general a 2D…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…
Exact solution of the Ising model on the simple cubic lattice is one of the long-standing open problems in rigorous statistical mechanics. Indeed, it is generally believed that settling it would constitute a methodological breakthrough,…
We consider the spectral problem of the Lax pair associated to periodic integrable partial differential equations. We assume this spectral problem to be a polynomial of degree $d$ in the spectral parameter $\lambda$. From this assumption,…
In this paper, based on Dynamical Systems (DS), we present an obstacle avoidance method that take into account workspace constraint for serial manipulators. Two modulation matrices that consider the effect of an obstacle and the workspace…
We consider local dynamics of the dimer model (perfect matchings) on hypercubic boxes $[n]^d$. These consist of successively switching the dimers along alternating cycles of prescribed (small) lengths. We study the connectivity properties…
We consider infinite or periodic 2D triangular Ising lattices with arbitrary positive or negative nearest-neighbor couplings $K_i(\vec{r})$, where $\vec{r}$ and $i$ indicate the bond position and orientation, respectively. Iterative…
The 3D Ising model and the generalized free scalar of dimension at least 0.75 belong to a continuous line of nonlocal fixed points, each referred to as a long-range Ising model. They can be distinguished by the dimension of the lightest…
The paper gathers and unifies mechanical stability conditions for all symmetry classes of 3D and 2D materials under arbitrary load. The methodology is based on the spectral decomposition of the fourth-order stiffness tensors mapped to…
HybrIK relies on a combination of analytical inverse kinematics and deep learning to produce more accurate 3D pose estimation from 2D monocular images. HybrIK has three major components: (1) pretrained convolution backbone, (2)…
In this thesis, we present results from the investigation of two problems, one related to the phase transition of long-range Ising models and the other one associated with the characterization of equilibrium states in quantum spin systems.…
The Ising model in two dimensions with special toroidal boundary conditions is analyzed. These boundary condition, which we call duality twisted boundary conditions, may be interpreted as inserting a specific defect line ("seam") in the…
This paper investigates the existence conditions of cusp points in the design parameter space of the R\underline{P}R-2P\underline{R}R parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which can…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of…
Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…
The critical exponents for the Anderson transition in three and four effective dimensions are discussed on the basis of previous data obtained for the frequency modulated kicked rotator. Without appeal to a scaling function they are shown…