Related papers: Articulated arm and special multi-flags (corrected…
We classify kinematical Lie algebras in dimension 2+1. This is approached via the classification of deformations of the static kinematical Lie algebra. In addition, we determine which kinematical Lie algebras admit invariant symmetric inner…
Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the…
Spiral arms, if they are massive, exert gravitational torques that transport angular momentum radially within galactic disks. These torques depend not on the pattern speed or permanence of the arms but only on the nonaxisymmetric mass…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
We study the distributional behavior of additive arithmetic functions evaluated at integers drawn from the harmonic distribution. Our main result shows that a broad family of such functions converges in law to conditioned Dickman-type…
Consider a nonparametric contextual multi-arm bandit problem where each arm $a \in [K]$ is associated to a nonparametric reward function $f_a: [0,1] \to \mathbb{R}$ mapping from contexts to the expected reward. Suppose that there is a large…
In this paper we propose a neurogeometrical model of the behaviour of cells of the arm area of the primary motor cortex (M1). We mathematically express the hypercolumnar organization of M1 discovered by Georgopoulos, as a fiber bundle, as…
This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with…
In the Best-$K$ identification problem (Best-$K$-Arm), we are given $N$ stochastic bandit arms with unknown reward distributions. Our goal is to identify the $K$ arms with the largest means with high confidence, by drawing samples from the…
In the present work, complex irregular bones and joints of the complete human arm were developed in a computer-aided design environment. Finite element analysis of an actual human arm was done to identify the distribution of stress using…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering…
The problem of rested and restless multi-armed bandits with constrained availability of arms is considered. The states of arms evolve in Markovian manner and the exact states are hidden from the decision maker. First, some structural…
Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…
The contraction method in different limits to obtain 22 different realizations of kinematical algebras is applied to study the supersymmetric extension of \AdS\ algebra and its contractions. It is shown that $\frak{p}_2$ $\frak{h}_-$,…
A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…
A method which we have developed for determining corotation radii, has allowed us to map in detail the radial resonant structures of barred spiral galaxies. Here we have combined this information with new determinations of the bar strength…
We introduce a novel framework of combinatorial multi-armed bandits (CMAB) with multivariant and probabilistically triggering arms (CMAB-MT), where the outcome of each arm is a $d$-dimensional multivariant random variable and the feedback…
This paper introduces the first asymptotically optimal strategy for a multi armed bandit (MAB) model under side constraints. The side constraints model situations in which bandit activations are limited by the availability of certain…
Human action recognition from skeletal data is an important and active area of research in which the state of the art has not yet achieved near-perfect accuracy on many well-known datasets. In this paper, we introduce the Distribution of…