Related papers: Non-Singular Assembly-mode Changing Motions for 3-…
This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
We investigate motion planning algorithms for the assembly of shapes in the \emph{tilt model} in which unit-square tiles move in a grid world under the influence of uniform external forces and self-assemble according to certain rules. We…
We investigate nonlinear dispersive mode coupling between the flexural in- and out-of-plane modes of two doubly clamped, nanomechanical silicon nitride string resonators. As the amplitude of one mode transitions from the linear response…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…
The aim of this paper is to illustrate both analytically and numerically the interplay of two fundamentally distinct non-Hermitian mechanisms in a deep subwavelength regime. Considering a parity-time symmetric system of one-dimensional…
Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…
Despite the benefits that directional coupler based parity-time symmetric systems may offer to the field of integrated optics, the realization of such couplers relies on rather strict design constraints on the waveguide parameters. Here, we…
Multimodal learning plays a pivotal role in advancing artificial intelligence systems by incorporating information from multiple modalities to build a more comprehensive representation. Despite its importance, current state-of-the-art…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
In micro- and nano-scale systems, particles can be moved by using an external force like gravity or a magnetic field. In the presence of adhesive particles that can attach to each other, the challenge is to decide whether a shape is…
In this article, we study some parallel processing algorithms for multiplication and modulo operations. We demonstrate that the state transitions that are formed under these algorithms satisfy lattice-linearity, where these algorithms…
In this paper, we introduce and study the Parallel Polyhedral Projection Method (3PM) and the Approximate Parallel Polyhedral Projection Method (A3PM) for finding a point in the intersection of finitely many closed convex sets. Each…
Permanent magnet synchronous motors (PMSM) are widely used due to their numerous benefits. It is critical to get rotor position and speed information in order to operate the motor accurately. Sensorless control techniques have emerged as a…
We present a method for resolving spatial mode overlaps in coupled microresonators based on Kerr and thermal cross-phase modulation. Through a pump-probe setup, we measure experimental overlap in a three-ring resonator with good agreement…