Related papers: Singularity Distance Computations for 3-RPR Manipu…
In a wide range of practical problems, such as forming operations and impact tests, assuming that one of the contacting bodies is rigid is an excellent approximation to the physical phenomenon. In this work, the well-established dual mortar…
This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3-PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining…
In this work, we propose a novel method for robust single rotation averaging that can efficiently handle an extremely large fraction of outliers. Our approach is to minimize the total truncated least unsquared deviations (TLUD) cost of…
The robustness of the stability properties of dynamical systems in the presence of unknown/adversarial perturbations to system parameters is a desirable property. In this paper, we present methods to efficiently compute and improve the…
We develop a technique that can be applied to provide improved upper bounds for two important questions in linear integer optimization. - Proximity bounds: Given an optimal vertex solution for the linear relaxation, how far away is the…
The larger the distance to instability from a matrix is, the more robustly stable the associated autonomous dynamical system is in the presence of uncertainties and typically the less severe transient behavior its solution exhibits.…
The problem of completing a low-rank matrix from a subset of its entries is often encountered in the analysis of incomplete data sets exhibiting an underlying factor model with applications in collaborative filtering, computer vision and…
Unlike with the energy, which is a scalar property, machine learning (ML) predictions of vector or tensor properties poses the additional challenge of achieving proper invariance (covariance) with respect to molecular rotation. If the…
This work presents a novel methodology for speeding up the assembly of stiffness matrices for laminate composite 3D structures in the context of isogeometric and finite element discretizations. By splitting the involved terms into their…
Geometric metrology includes one or two-dimensional (1D or 2D) distance or plane measurements, as well as the three-dimensional (3D) scanning. The 1D or 2D measuring system is unable to obtain advanced 3D feature, while the 3D scanning…
Many solid mechanics problems on complex geometries are conventionally solved using discrete boundary methods. However, such an approach can be cumbersome for problems involving evolving domain boundaries due to the need to track boundaries…
Computational difficulty of quadratic matching and the Gromov-Wasserstein distance has led to various approximation and relaxation schemes. One of such methods, relying on the notion of distance profiles, has been widely used in practice,…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…
Our ability to numerically model and understand the complex flow behavior of solid-bearing suspensions has increased significantly over the last couple of years, partly due to direct numerical simulations that compute flow around individual…
This paper investigates the singularities at the vertex of multiply connected angular inhomogeneities for heat conduction and elastic deformation. With the aid of Eshelby's equivalent inclusion method (EIM), each inhomogeneity is simulated…
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…
We refer to the distance between optimal solutions of integer programs and their linear relaxations as proximity. In 2018, Eisenbrand and Weismantel proved that proximity is independent of the dimension for programs in standard form. We…
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…