Related papers: A new line-symmetric mobile infinity-pod
Mechanism - collections of rigid elements coupled by perfect hinges which exhibit a zero-energy motion -- motivate the design of a variety of mechanical metamaterials. We significantly enlarge this design space by considering…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
Recent developments have created differentiable physics simulators designed for machine learning pipelines that can be accelerated on a GPU. While these can simulate biomechanical models, these opportunities have not been exploited for…
A nice differential-geometric framework for (non-abelian) higher gauge theory is provided by principal 2-bundles, i.e. categorified principal bundles. Their total spaces are Lie groupoids, local trivializations are kinds of Morita…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
Almost hypercomplex manifolds with Hermitian and anti-Hermitian metrics are considered. A linear connection $D$ is introduced such that the structure of these manifolds is parallel with respect to D. Of special interest is the class of the…
We study surface operators in the N=4 supersymmetric Yang-Mills theories with gauge groups SO(n) and Sp(2n). As recently shown by Gukov and Witten these theories have a class of rigid surface operators which are expected to be related by…
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…
This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile…
Higher-dimensional automata (HDAs) are models of non-interleaving concurrency for analyzing concurrent systems. There is a rich literature that deals with bisimulations for concurrent systems, and some of them have been extended to HDAs.…
Mobility edges, separating localized from extended states, are known to arise in the single-particle energy spectrum of disordered systems in dimension strictly higher than two and certain quasiperiodic models in one dimension. Here we…
This study examines the mechanical behavior of a novel class of mechanical metamaterials alternating pentamode lattices and stiffening plates. The unit cell of such lattices consists of a sub-lattice of the face cubic-centered unit cell…
We study topology of configuration spaces of planar linkages having one leg of variable length. Such telescopic legs are common in modern robotics where they are used for shock absorbtion and serve a variety of other purposes. Using a Morse…
We study the moduli space of Gieseker semi-stable sheaves on the complex projective plane supported on sextic curves and having Euler characteristic one. We determine locally free resolutions of length one for all such sheaves. We decompose…
In real life, many people have leg defects. the goal of our work is to design a mechanism which could help them walk based on a specific trajectory and realize flexible walking finally. In this paper, we use a motor to drive a multi-link…
In this paper, we study Absolute Parallelism (AP-) geometry on the tangent bundle $TM$ of a manifold $M$. Accordingly, all geometric objects defined in this geometry are not only functions of the positional argument $x$, but also depend on…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
Duality symmetries of supergravity theories are powerful tools to restrict the number of possible actions, to link different dimensions and number of supersymmetries and might help to control quantisation. (Hodge-Dirac-)Dualisation of gauge…
This work reports rich localization-delocalization transitions in a quasiperiodic ladder, of which the two legs are subject to the same quasiperiodic onsite potential but can be shifted laterally relative to each other. It is found that the…
A new global approach in the study of duality transformations is introduced. The geometrical structure of complex line bundles is generalized to higher order U(1) bundles which are classified by quantized charges and duality maps are…