Related papers: On homotopy continuation based singularity distanc…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
The Procrustes distance is used to quantify the similarity or dissimilarity of (3-dimensional) shapes, and extensively used in biological morphometrics. Typically each (normalized) shape is represented by N landmark points, chosen to be…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
This paper generalizes a previously-conceived, continuation-based optimization technique for scalar objective functions on constraint manifolds to cases of periodic and quasiperiodic solutions of delay-differential equations. A Lagrange…
We present a practical numerical method for evaluating the Lagrange multipliers necessary for maintaining a constrained linear geometry of particles in dynamical simulations. The method involves no iterations, and is limited in accuracy…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…
Recent studies propose enhancing machine learning models by aligning the geometric characteristics of the latent space with the underlying data structure. Instead of relying solely on Euclidean space, researchers have suggested using…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the…
In algorithms for finite metric spaces, it is common to assume that the distance between two points can be computed in constant time, and complexity bounds are expressed only in terms of the number of points of the metric space. We…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
Let $\mathbb{R}$ be the field of real numbers. We consider the problem of computing the real isolated points of a real algebraic set in $\mathbb{R}^n$ given as the vanishing set of a polynomial system. This problem plays an important role…
We extend classical tools from rational homotopy theory to topological data analysis by introducing persistent Sullivan minimal models of persistent topological spaces. Our main result establishes that the interleaving distance between such…
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…
Stochastic sequential quadratic optimization (SQP) methods for solving continuous optimization problems with nonlinear equality constraints have attracted attention recently, such as for solving large-scale data-fitting problems subject to…
Persistence diagrams, combining geometry and topology for an effective shape description used in pattern recognition, have already proven to be an effective tool for shape representation with respect to a certainfiltering function.…
Many applications modeled by polynomial systems have positive dimensional solution components (e.g., the path synthesis problems for four-bar mechanisms) that are challenging to compute numerically by homotopy continuation methods. A…
Propagation of linear constraints has become a crucial sub-routine in modern Mixed-Integer Programming (MIP) solvers. In practice, iterative algorithms with tolerance-based stopping criteria are used to avoid problems with slow or infinite…
This work focuses on the development of a non-conforming domain decomposition method for the approximation of PDEs based on weakly imposed transmission conditions: the continuity of the global solution is enforced by a discrete number of…
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. Then a new performance index based…