Related papers: Singular surfaces and cusps in symmetric planar 3-…
We study planar domains with exemplary boundary singularities of the form of cusps. A natural question is how much elastic energy is needed to flatten these cusps; that is, to remove singularities. We give, in a connection of quasidisks, a…
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…
Koras-Russell threefolds are certain smooth contractible complex hypersurfaces in affine complex four-space which are not algebraically isomorphic to affine three-space. One of the important examples is the cubic Russell threefold, defined…
Two planar supersymmetric quantum mechanical systems built around the quantum integrable Kepler/Coulomb and Euler/Coulomb problems are analyzed in depth. The supersymmetric spectra of both systems are unveiled, profiting from symmetry…
Conformal field theories (CFTs) with cubic global symmetry in 3D are relevant in a variety of condensed matter systems and have been studied extensively with the use of perturbative methods like the $\varepsilon$ expansion. In an earlier…
In this paper, we consider the following question: how many degree $d$ curves are there in $\mathbb{P}^3$ (passing through the right number of generic lines and points), whose image lies inside a $\mathbb{P}^2$, having $\delta$ nodes and…
We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective…
The main aim of this article is to establish an $L_p$-theory for elliptic operators on manifolds with singularities. The particular class of differential operators discussed herein may exhibit degenerate or singular behavior near the…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
The planar dynamics of spin-1/2 quantum relativistic particles is important for several physical systems. In this paper we derive, by a simple method, the generators for the continuous symmetries of the 3+1 Dirac equation for planar motion,…
Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…
Any ruled surface in Euclidean 3-space is described as a curve of unit dual vectors in the algebra of dual quaternions (=the even Clifford algebra of type (0,3,1)). Combining this classical framework and Singularity Theory, we characterize…
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…
Consider the Restricted Planar Circular Three Body Problem (RPC3BP), which models the motion of a massless particle (Asteroid) under the gravitational influence of two massive bodies (the primaries) moving on circular orbits. By considering…
In this note we discuss the geometry of Riemannian surfaces having a discrete set of singular points. We assume the conformal structure extends through the singularities and the curvature is integrable. Such points are called \emph{simple…
Many machine learning problems involve regressing variables on a non-Euclidean manifold -- e.g. a discrete probability distribution, or the 6D pose of an object. One way to tackle these problems through gradient-based learning is to use a…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Second order integrals of motion for 3d quantum mechanical systems with position dependent masses (PDM) are classified. Namely, all PDM systems are specified which, in addition to their rotation invariance, admit at least one second order…