Related papers: Accuracy and precision: a new view on kinematic as…
In the context of geometric Impulsive Mechanics of systems with a finite number of degrees of freedom, we model the roughness of a unilateral constraint ${\mathcal S\/}$ by introducing a suitable instantaneous kinetic constraint ${\mathcal…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
As an analogy of best separable approximation (BSA) in the framework of entanglement theory, here we concentrate on the notion of best incoherent approximation, with application to characterizing and quantifying quantum coherence. From both…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Conjecturing and theorem proving are activities at the center of mathematical practice and are difficult to separate. In this paper, we propose a framework for completing incomplete conjectures and incomplete proofs. The framework can turn…
Simultaneously achieving low trajectory errors and compliant control \emph{without} explicit models of the task was effectively addressed with Compliant Movement Primitives (CMP). For a single-robot task, this means that it is accurately…
We illustrate how the different kinds of constraints acting on an impulsive mechanical system can be clearly described in the geometric setup given by the configuration space--time bundle $\pi_t:\mathcal{M} \to \mathbb{E}$ and its first jet…
Uncertainty quantification of complex technical systems is often based on a computer model of the system. As all models such a computer model is always wrong in the sense that it does not describe the reality perfectly. The purpose of this…
Support vector machines (SVMs) naturally embody sparseness due to their use of hinge loss functions. However, SVMs can not directly estimate conditional class probabilities. In this paper we propose and study a family of coherence…
Kinematic fitting is a well-established tool to improve jet energy and invariant mass resolutions by fitting the measured values under constraints (e.g. energy conservation). However, in the presence of substantial ISR and Beamstrahlung,…
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, requiring compensation of alignment errors while applying sufficient force in the insertion direction, ideally at high speeds and…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
The ability to accurately quantify the performance an additively manufactured (AM) product is important for a widespread industry adoption of AM as the design is required to: (1) satisfy geometrical constraints, (2) satisfy structural…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…