Related papers: Hyperbolic pseudoinverses for kinematics in the Eu…
Can a robot manipulate intra-category unseen objects in arbitrary poses with the help of a mere demonstration of grasping pose on a single object instance? In this paper, we try to address this intriguing challenge by using USEEK, an…
This paper is the second part of our work on 4-dimensional 2-handlebodies. In the first part (arXiv:math.GT/0407032) it is shown that up to certain set of local moves, connected simple coverings of B^4 branched over ribbon surfaces,…
We consider the problem of integrability of the Poisson equations describing spatial motion of a rigid body in the classical nonholonomic Suslov problem. We obtain necessary conditions for their solutions to be meromorphic and show that…
The aim of the present article is to construct quadratically integrable three dimensional systems in non-vanishing magnetic fields which possess so-called non-subgroup type integrals. The presence of such integrals means that the system…
Recently we have shown that the equivalence classes of metrics on the double of a metric space $X$ form an inverse semigroup. Here we define an inverse subsemigroup related to a family of isometric subspaces of $X$, which is more…
We consider the inverse dynamical problem for the dynamical system with discrete time associated with the semi-infinite Jacobi matrix. We solve the inverse problem for such a system and answer a question on the characterization of the…
We investigate the infinitesimal invariants of an immersed submanifold $\Sigma $ of a Klein geometry $M\cong G/H$, and in particular an invariant filtration of Lie algebroids over $\Sigma $. The invariants are derived from the logarithmic…
This paper gives two results that show that the dynamics of a time-periodic Lagrangian system on a hyperbolic manifold are at least as complicated as the geodesic flow of a hyperbolic metric. Given a hyperbolic geodesic in the Poincar\'e…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Relativistic treatments of quantum mechanical systems are important for understanding hadronic structure and dynamics at sub-nucleon distance scales. Hadronic states in different inertial reference frames are needed to compute current…
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools.…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
We argue that fermion-boson mapping techniques represent a natural tool for studying many-body supersymmetry in fermionic systems with pairing. In particular, using the generalized Dyson mapping of a many-level fermion superalgebra with the…
Quadratic algebras are generalizations of Lie algebras; they include the symmetry algebras of 2nd order superintegrable systems in 2 dimensions as special cases. The superintegrable systems are exactly solvable physical systems in classical…
Odd-dimensional Riemannian spaces that are non-orientable, but have a pin structure, require the consideration of the twisted adjoint representation of the corresponding pin group. It is shown here how the Dirac operator should be modified,…
In many strongly-coupled systems, the infrared dynamics is described by different degrees of freedom from the ultraviolet. It is then natural to ask how operators written in terms of the microscopic variables are mapped to operators…
We consider a family of Riemannian manifolds M such that for each unit speed geodesic gamma of M there exists a distinguished bijective correspondence L between infinitesimal translations along gamma and infinitesimal rotations around it.…
Given a reconfigurable system X, such as a robot moving on a grid or a set of particles traversing a graph without colliding, the possible positions of X naturally form a cubical complex S(X). When S(X) is a CAT(0) space, we can explicitly…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
We construct new infinite classes of Euclidean supersymmetric solutions of four dimensional minimal gauged supergravity comprising a $U (1) \times U (1)$-invariant asymptotically locally hyperbolic metric on the total space of orbifold line…