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Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum…
We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
We analyze the geometric phase and dynamic phase acquired by a qubit coupled to an environment through pure dephasing, establishing a direct connection between phase accumulation and ergotropy. We show that the dynamic phase depends solely…
Adaptive techniques are crucial for successful numerical modeling of gravitational waves from astrophysical sources such as coalescing compact binaries, since the radiation typically has wavelengths much larger than the scale of the…
The fate of the molecular geometric phase in an exact dynamical framework is investigated with the help of the exact factorization of the wavefunction and a recently proposed quantum hydrodynamical description of its dynamics. An…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…
Understanding and optimizing the design of helical micro-swimmers is crucial for advancing their application in various fields. This study presents an innovative approach combining Free-Form Deformation with Bayesian Optimization to enhance…
In this paper we analyze the relaxed form of a shape optimization problem with state equation $\{{array}{ll} -div \big(a(x)Du\big)=f\qquad\hbox{in}D \hbox{boundary conditions on}\partial D. {array}.$ The new fact is that the term $f$ is…
The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. For complex, cluttered scenes, motion planning approaches can often…
A prototype tool to assist architects during the early design stage of floor plans has been developed, consisting of an Evolutionary Program for the Space Allocation Problem (EPSAP), which generates sets of floor plan alternatives according…
Gradient descent is slow to converge for ill-conditioned problems and non-convex problems. An important technique for acceleration is step-size adaptation. The first part of this paper contains a detailed review of step-size adaptation…
As application demands for online convex optimization accelerate, the need for designing new methods that simultaneously cover a large class of convex functions and impose the lowest possible regret is highly rising. Known online…
We revisit well-known protocols in quantum metrology using collective spins and propose a unifying picture for optimal state preparation based on a semiclassical description in phase space. We show how this framework allows for quantitative…
Appearance of adiabatic geometric phase shift in the context of noncommutative quantum mechanics is studied using an exactly solvable model of 2D simple harmonic oscilator in Moyal plane, where momentum non-commutativity are also considered…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
We use holography to develop a physical picture of the real-time evolution of the spinodal instability of a four-dimensional, strongly-coupled gauge theory with a first-order, thermal phase transition. We numerically solve Einstein's…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
We consider an infinite 3-dimensional elastic continuum whose material points experience no displacements, only rotations. This framework is a special case of the Cosserat theory of elasticity. Rotations of material points are described…
We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences…