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Spiral arms are the most singular features in disc galaxies. These structures can exhibit different patterns, namely grand design and flocculent arms, with easily distinguishable characteristics. However, their origin and the mechanisms…
Service robots in the future need to execute abstract instructions such as "fetch the milk from the fridge". To translate such instructions into actionable plans, robots require in-depth background knowledge. With regards to interactions…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
Motivated by a broad class of mobile intervention problems, we propose and study restless multi-armed bandits (RMABs) with network effects. In our model, arms are partially recharging and connected through a graph, so that pulling one arm…
Recent JWST observations have revealed the prevalence of spiral structures at $z > 1$. Unlike in the local Universe, the origin and the consequence of spirals at this epoch remain unexplored. We use public JWST/NIRCam data from the…
Fractional diffusion equations are widely used to describe anomalous diffusion processes where the characteristic displacement scales as a power of time. For processes lacking such scaling the corresponding description may be given by…
There have been several recent suggestions that the Milky Way has rotating bar-like features based on HI and star count data. In this paper, I show that such features cause distinctive stellar kinematic signatures near OLR and ILR. The…
We introduce a new graphical bilinear bandit problem where a learner (or a \emph{central entity}) allocates arms to the nodes of a graph and observes for each edge a noisy bilinear reward representing the interaction between the two end…
Re-configurable robots have more utility and flexibility for many real-world tasks. Designing a learning agent to operate such robots requires adapting to different configurations. Here, we focus on robotic arms with multiple rigid links…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
We characterize, in an algebraic and in a diagrammatic way, Milnor string link invariants indexed by sequences where any index appears at most $k$ times, for any fixed $k\ge 1$. The algebraic characterization is given in terms of an…
In this paper, a multiscale constitutive framework for one-dimensional blood flow modeling is presented and discussed. By analyzing the asymptotic limits of the proposed model, it is shown that different types of blood propagation phenomena…
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…
In the present paper we describe the dynamics of the revised rigid body, the dynamics of the rigid body with distributed delays and the dynamics of the fractional rigid body. We analyze the stationary states for given values of the rigid…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
The role of spiral arms in galaxies -- whether they enhance star formation efficiency or primarily act as material gatherers -- remains an open question. Observational studies have yielded ambiguous results, in part due to the choice of…
Inverse problems, such as accelerated MRI reconstruction, are ill-posed and an infinite amount of possible and plausible solutions exist. This may not only lead to uncertainty in the reconstructed image but also in downstream tasks such as…
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…
This paper studies a class of constrained restless multi-armed bandits (CRMAB). The constraints are in the form of time varying set of actions (set of available arms). This variation can be either stochastic or semi-deterministic. Given a…