Related papers: On homotopy continuation based singularity distanc…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
To solve boundary integral equations for potential problems using collocation Boundary Element Method (BEM) on smooth curved 3D geometries, an analytical singularity extraction technique is employed. By adopting the isoparametric approach,…
In this paper, we describe efficient MapReduce simulations of parallel algorithms specified in the BSP and PRAM models. We also provide some applications of these simulation results to problems in parallel computational geometry for the…
The nonlocal Cahn-Hilliard equation provides a natural extension of the classical model for phase separation by incorporating long-range interactions through a singular convolution kernel. While this formulation admits a rich existence and…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
Numerical homotopy continuation methods for three classes of polynomial systems are presented. For a generic instance of the class, every path leads to a solution and the homotopy is optimal. The counting of the roots mirrors the resolution…
Nonlinear two-point boundary value problems arise in numerous areas of application. The existence and number of solutions for various cases has been studied from a theoretical standpoint. These results generally rely upon growth conditions…
The geodesic approximation is a powerful method for studying the dynamics of BPS solitons. However, there are systems, such as BPS monopoles in three-dimensional hyperbolic space, where this approach is not applicable because the moduli…
The computation of tunes and matched beam distributions are essential steps in the analysis of circular accelerators. If certain symmetries - like midplane symmetrie - are present, then it is possible to treat the betatron motion in the…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
We consider the geometric numerical integration of Hamiltonian systems subject to both equality and "hard" inequality constraints. As in the standard geometric integration setting, we target long-term structure preservation. We…
Generically, a fully measured elasticity tensor has no material symmetry. For single crystals with a cubic lattice, or for the aeronautics turbine blades superalloys such as Nickelbased CMSX-4, cubic symmetry is nevertheless expected. It is…
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely…
The linear response eigenvalue problem, which arises from many scientific and engineering fields, is quite challenging numerically for large-scale sparse/dense system, especially when it has zero eigenvalues. Based on a direct sum…
Large-scale strongly nonlinear and nonconvex mixed-integer nonlinear programming (MINLP) models frequently appear in optimisation-based process synthesis, integration, intensification, and process control. However, they are usually…
The problem of the optimal approximation of circular arcs by parametric polynomial curves is considered. The optimality relates to the Hausdorff distance and have not been studied yet in the literature. Parametric polynomial curves of low…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
A multi-cube method is developed for solving systems of elliptic and hyperbolic partial differential equations numerically on manifolds with arbitrary spatial topologies. It is shown that any three-dimensional manifold can be represented as…
Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space…