Related papers: Singularity Distance Computations for 3-RPR Manipu…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
We consider the MAP-MRF inference task, that is, minimizing a function of discrete variables represented as a sum of unary and pairwise terms. A prominent approach for tackling this NP-hard problem in practice is to solve its natural LP…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
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…
We propose an algorithmic procedure i) to study the ``distance'' between an integrable PDE and any discretization of it, in the small lattice spacing epsilon regime, and, at the same time, ii) to test the (asymptotic) integrability…
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using…
Given a line barrier and a set of mobile sensors distributed in the plane, the Minimizing Maximum Sensor Movement problem (MMSM) for \textcolor{black}{line barrier coverage} is to compute relocation positions for the sensors in the plane…
We propose the use of machine learning techniques to find optimal quadrature rules for the construction of stiffness and mass matrices in isogeometric analysis (IGA). We initially consider 1D spline spaces of arbitrary degree spanned over…
This paper addresses the task of estimating a covariance matrix under a patternless sparsity assumption. In contrast to existing approaches based on thresholding or shrinkage penalties, we propose a likelihood-based method that regularizes…
This note is about promoting singularity subtraction as a helpful tool in the discretization of singular integral operators on curved surfaces. Singular and nearly singular kernels are expanded in series whose terms are integrated on…
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…
One of the most important open problems in machine scheduling is the problem of scheduling a set of jobs on unrelated machines to minimize the makespan. The best known approximation algorithm for this problem guarantees an approximation…
We determine the equilibria of a rigid loop in the plane, subject to the constraints of fixed length and fixed enclosed area. Rigidity is characterized by an energy functional quadratic in the curvature of the loop. We find that the area…
Several researchers proposed using non-Euclidean metrics on point sets in Euclidean space for clustering noisy data. Almost always, a distance function is desired that recognizes the closeness of the points in the same cluster, even if the…
Accurate source localization in Multi-Platform Radar Networks (MPRNs) benefits from exploiting both range and angle measurements under robust estimation. In this paper, we propose a robust Euclidean distance matrix (EDM) optimization model…
We present algorithms for computing weakly singular and near-singular integrals arising when solving the 3D Helmholtz equation with curved boundary elements. These are based on the computation of the preimage of the singularity in the…
We propose an efficient method to compute a small set of integer-constrained cone singularities, which induce a rotationally seamless conformal parameterization with low distortion. Since the problem only involves discrete variables, i.e.,…
In our previous work [SIAM J. Sci. Comput. 43(3) (2021) B784-B810], an accurate hyper-singular boundary integral equation method for dynamic poroelasticity in two dimensions has been developed. This work is devoted to studying the more…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
Robustness verification is a promising technique for rigorously proving Recurrent Neural Networks (RNNs) robustly. A key challenge is to over-approximate the nonlinear activation functions with linear constraints, which can transform the…