Related papers: A Systematic Approach to Computing the Manipulator…
A novel anti-P-pseudo-Hermitian mechanical system that integrates piezoelectric actuators and sensors with non-reciprocal coupling into mechanical beams is proposed. This configuration enables the system to exhibit programmable exceptional…
The Euler Characteristic Transform (ECT) is a robust method for shape classification. It takes an embedded shape and, for each direction, computes a piecewise constant function representing the Euler Characteristic of the shape's sublevel…
In this article, we propose Echo, a novel joint-matching teleoperation system designed to enhance the collection of datasets for manual and bimanual tasks. Our system is specifically tailored for controlling the UR manipulator and features…
This paper presents a novel direct Jacobian total Lagrangian explicit dynamics (DJ-TLED) finite element algorithm for real-time nonlinear mechanics simulation. The nodal force contributions are expressed using only the Jacobian operator,…
We develop a transformer-based sequence-to-sequence model that recovers scalar ordinary differential equations (ODEs) in symbolic form from irregularly sampled and noisy observations of a single solution trajectory. We demonstrate in…
The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics…
In the broad context of physics ranging from classical experimental optics to quantum mechanics of unitary as well as non-unitary systems there emerge interesting phenomena related to the presence of the so called Kato's exceptional points…
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. These methods require the computation of the Jacobian of the…
We introduce a new image segmentation task, called Entity Segmentation (ES), which aims to segment all visual entities (objects and stuffs) in an image without predicting their semantic labels. By removing the need of class label…
We introduce an efficient method TTN-HEOM for exactly calculating the open quantum dynamics for driven quantum systems interacting with highly structured bosonic baths by combining the tree tensor network (TTN) decomposition scheme to the…
A simple pseudo-Hamiltonian formulation is proposed for the linear inhomogeneous systems of ODEs. In contrast to the usual Hamiltonian mechanics, our approach is based on the use of non-stationary Poisson brackets, i.e. corresponding…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
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,…
We present two improvements to arithmetic in the Jacobian of global function fields based on the approach of Hess. The first reduces the number of expensive reduction steps by optimizing for typical inputs rather than worst-case behavior,…
Two reconstruction methods of Electrical Impedance Tomography (EIT) are numerically compared for nonsmooth conductivities in the plane based on the use of complex geometrical optics (CGO) solutions to D-bar equations involving the global…
This paper provides a new avenue for exploiting deep neural networks to improve physics-based simulation. Specifically, we integrate the classic Lagrangian mechanics with a deep autoencoder to accelerate elastic simulation of deformable…
Keeping in view the ordering ambiguity that arises due to the presence of position-dependent effective mass in the kinetic energy term of the Hamiltonian, a general scheme for obtaining algebraic solutions of quantum mechanical systems with…
For a quantum many-body problem, effective Hamiltonians that give exact eigenvalues in reduced model space usually have different expressions, diagrams and evaluation rules from effective transition operators that give exact transition…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
Endoscopic Sinus and Skull Base Surgeries (ESSBSs) is a challenging and potentially dangerous surgical procedure, and objective skill assessment is the key components to improve the effectiveness of surgical training, to re-validate…