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Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…
In recent studies, the tensor ring (TR) rank has shown high effectiveness in tensor completion due to its ability of capturing the intrinsic structure within high-order tensors. A recently proposed TR rank minimization method is based on…
Topological properties of quantum systems are one of the most intriguing emerging phenomena in condensed matter physics. A crucial property of topological systems is the symmetry-protected robustness towards local noise. Experiments have…
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor…
Self-shaping of curved structures, especially those involving flexible thin layers, has attracted increasing attention because of their broad potential applications in e.g. nanoelectromechanical/micro-electromechanical systems (NEMS/MEMS),…
The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of…
Network alignment has extensive applications in comparative interactomics. Traditional approaches aim to simultaneously maximize the number of conserved edges and the underlying similarity of aligned entities. We propose a novel formulation…
Tangent stabilised large strain isotropic elasticity was recently proposed by Poya et al. [1] wherein by working directly with principal stretches the entire eigenstructure of constitutive and geometric/initial stiffness terms were found in…
Tensor networks provide compact and scalable representations of high-dimensional data, enabling efficient computation in fields such as quantum physics, numerical partial differential equations (PDEs), and machine learning. This paper…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
We construct a lower bound of the tensor rank for a new class of tensors, which we call persistent tensors. We present three specific families of persistent tensors, of which the lower bound is tight. We show that there is a chain of…
The classical continuous mixed formulation of linear elasticity with pointwise symmetric stresses allows for a conforming finite element discretization with piecewise polynomials of degree at least three. Symmetric stress approximations of…
This paper proposes a computational framework for the design optimization of stable structures under large deformations by incorporating nonlinear buckling constraints. A novel strategy for suppressing spurious buckling modes related to…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Multitask learning (MTL) can utilize the relatedness between multiple tasks for performance improvement. The advent of multimodal data allows tasks to be referenced by multiple indices. High-order tensors are capable of providing efficient…
Disentanglement via mechanism sparsity was introduced recently as a principled approach to extract latent factors without supervision when the causal graph relating them in time is sparse, and/or when actions are observed and affect them…
We formulate and discuss the relationship between polyhedral stress functions and internally self-equilibrated frameworks in 2D, and a two-mesh technique for the prediction of the stress field associated with such systems. We generalize…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…