Related papers: Non-Singular Assembly-mode Changing Motions for 3-…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…
We investigate the transition from incoherence to global collective motion in a three-dimensional swarming model of agents with helical trajectories, subject to noise and global coupling. Without noise this model was recently proposed as a…
In the present study an oscillator system formed by a seesaw connected to a simple pendulum coupled to a mobile platform with a certain slope, is analyzed. The observed properties of the system when faced with a possible displacement of the…
If particles interact according to isotropic pair potentials that favor multiple length scales, in principle a large variety of different complex structures can be achieved by self-assembly. We present, motivate, and discuss a conjecture…
Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from…
Molecular motors interacting with cytoskeletal filaments undergo peculiar random walks consisting of alternating sequences of directed movements along the filaments and diffusive motion in the surrounding solution. An ensemble of motors is…
We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose…
This paper presents the accessibility and small-time local controllability (STLC) results for $N$-link horizontal planar manipulators with only one unactuated joint. STLC is important in controls, both for design considerations and because…
We investigate the appearance of mobility edges in a one-dimensional non-Hermitian tight-banding model with alternating hopping constants and slowly varying quasi-periodic on-site potentials. Due to the presence of slowly varying exponent,…
Using overdamped Brownian dynamics simulations we investigate the isotropic-nematic (IN) transition of self-propelled rods in three spatial dimensions. For two well-known model systems (Gay-Berne potential and hard spherocylinders) we find…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…
The behavior of a parity-time (PT) symmetric coupled microring system is studied when operating in the vicinity of an exceptional point. Using the abrupt phase transition around this point, stable single-mode lasing is demonstrated in…
We investigate the nonlinear effect of a pendulum with the upper end fixed to an elastic rod which is only allowed to vibrate horizontally. The pendulum will start rotating and trace a delicate stationary pattern when released without…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
This paper introduces a novel, markerless, step-by-step, in-situ 3D Augmented Reality (AR) instruction method and its application - BRICKxAR (Multi 3D Models/M3D) - for small parts assembly. BRICKxAR (M3D) realistically visualizes rendered…
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…
Microscopic symmetries impose strong constraints on the elasticity of a crystalline solid. In addition to the usual spatial symmetries captured by the tensorial character of the elastic tensor, hidden non-spatial symmetries can occur…
In this work we study the assisted translocation of a polymer across a membrane nanopore, inside which a molecular motor exerts a force fuelled by the hydrolysis of ATP molecules. In our model the motor switches to its active state for a…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…