Related papers: Fused Angles and the Deficiencies of Euler Angles
The geometric state of a flat boundary is frequently described using the so-called macroscopic parameters. They are a principal tool for dealing with interfaces at the continuous scale. The paper describes a new method for macroscopic…
In this paper we study constant angle surfaces in Euclidean 3-space. Even that the result is a consequence of some classical results involving the Gauss map (of the surface), we give another approach to classify all surfaces for which the…
Discussed is mechanics of objects with internal degrees of freedom in generally non-Euclidean spaces. Geometric peculiarities of the model are investigated detailly. Discussed are also possible mechanical applications, e.g., in dynamics of…
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
A framed surface is a smooth surface in the Euclidean space with a moving frame. By using the moving frame, we can define Bertrand framed surfaces as the same idea as Bertrand framed curves. Then we find the caustics and involutes as…
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
This paper deals with a kind of design of a ruled surface. It combines concepts from the fields of computer aided geometric design and kinematics. A dual unit spherical B\'ezier-like curve on the dual unit sphere (DUS) is obtained with…
We consider dual unitary operators and their multi-leg generalizations that have appeared at various places in the literature. These objects can be related to multi-party quantum states with special entanglement patterns: the sites are…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…
This article describes an entirely algebraic construction for developing conformal geometries, which provide models for, among others, the Euclidean, spherical and hyperbolic geometries. On one hand, their relationship is usually shown…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
We describe a setup for obtaining uncertainty relations for arbitrary pairs of observables related by Fourier transform. The physical examples discussed here are standard position and momentum, number and angle, finite qudit systems, and…
An equidistant set in the Euclidean space consists of points having equal distances to both members of a given pair of sets, called focal sets. Since there is no effective formula to compute the distance of a point and a set, it is hard to…
In this article we study, in their non-Euclidean versions, two important mechanical systems that are very common in numerous devices. More precisely, we study the laws governing the movement of pulley and gear systems in spherical and…
Orientation learning plays a pivotal role in many tasks. However, the rotation group SO(3) is a Riemannian manifold. As a result, the distortion caused by non-Euclidean geometric nature introduces difficulties to the incorporation of local…
The specialised uses of solid angles mean that they are quite unfamiliar quantities. This article, apart from making solid angles a little more familiar, brings out several topics of general interest, such as how units are interrelated and…
We introduce a new approach for robotic manipulation tasks in human settings that necessitates understanding the 3D geometric connections between a pair of objects. Conventional end-to-end training approaches, which convert pixel…
Recent literature has shown that symbolic data, such as text and graphs, is often better represented by points on a curved manifold, rather than in Euclidean space. However, geometrical operations on manifolds are generally more complicated…