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An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
Based on the Decay and Fission Conjecture, we provide a classification of unitary quivers whose 3d $\mathcal{N}=4$ Coulomb branches exhibit isolated singularities. This yields the complete list of isolated conical symplectic singularities…
We prove that finite area isolated singularities of surfaces with constant positive curvature in R^3 are removable singularities, branch points or immersed conical singularities. We describe the space of immersed conical singularities of…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
The work is a detailed study of rational singularities of multiplicity 3 (RTP-singularities, for short). We give a list of nonisolated hypersurface singularities of which normalisations are the RTP-singularities, and construct their minimal…
A class of surfaces-graphs in a Riemannian 3-space with a prescribed projection of one field of principal directions onto a surface $\Pi$ is considered. A problem of determination of such surfaces when both principal curvatures are given…
We study the zeros in the complex plane of the partition function for the Ising model coupled to 2d quantum gravity for complex magnetic field and real temperature, and for complex temperature and real magnetic field, respectively. We…
The computation of tunes and matched beam distributions are essential steps in the analysis of circular accelerators. If certain symmetries - like midplane symmetrie - are present, then it is possible to treat the betatron motion in the…
We consider the problem of solving a family of parametric mixed-integer linear optimization problems where some entries in the input data change. We introduce the concept of cutting-plane layer (CPL), i.e., a differentiable cutting-plane…
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…
A regularization procedure developed in [1] for the integral curvature invariants on manifolds with conical singularities is generalized to the case of squashed cones. In general, the squashed conical singularities do not have rotational…
We study parallel surfaces and dual surfaces of cuspidal edges. We give concrete forms of principal curvature and principal direction for cuspidal edges. Moreover, we define ridge points for cuspidal edges by using those. We clarify…
This work deals with models described by three real scalar fields in one spatial dimension. We study the case where two of the three fields engender kinematical modifications, which respond as geometrical constrictions, that can be used to…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Deployable polyhedral mechanisms (DPMs) have witnessed flourishing growth in recent years because of their potential applications in robotics, space exploration, structure engineering, etc. This paper firstly presents the construction,…
In this paper, we analyze the planar cubic Alternative curve to determine the conditions for convex, loops, cusps and inflection points. Thus cubic curve is represented by linear combination of three control points and basis function that…
We carry out a sequence of coordinate changes for the planar three-body problem which successively eliminate the translation and rotation symmetries, regularize all three double collision singularities and blow-up the triple collision.…
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the…