Related papers: Extending the Cooperative Dual-Task Space in Confo…
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation.…
Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie…
We make a detailed study of the infinite dimensional Galilean Conformal Algebra (GCA) in the case of two spacetime dimensions. Classically, this algebra is precisely obtained from a contraction of the generators of the relativistic…
The area of geometry with its very strong and appealing visual contents and its also strong and appealing connection between the visual content and its formal specification, is an area where computational tools can enhance, in a significant…
A tutorial of the Mathematica package CGAlgebra, for conformal geometric algebra calculations is presented. Using rule-based programming, the 5-dimensional conformal geometric algebra is implemented and defined functions simplify the…
This paper explores the application of geometric algebra to Galilean spacetime and its physical implications. We introduce the Galilean Spacetime Algebra (GSTA), a five-dimensional conformal geometric algebra (CGA) generated by a specific…
This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the…
Conformal Geometric Algebra (CGA) is a framework that allows the representation of objects, such as points, planes and spheres, and deformations, such as translations, rotations and dilations as uniform vectors, called multivectors. In this…
In this work, we present a novel, integrated rigged character simulation framework in Conformal Geometric Algebra (CGA) that supports, for the first time, real-time cuts and tears, before and/or after the animation, while maintaining…
Context: Detecting arrays are mathematical structures aimed at fault identification in combinatorial interaction testing. However, they cannot be directly applied to systems that have constraints among test parameters. Such constraints are…
Geometric algebra is an optimal frame work for calculating with vectors. The geometric algebra of a space includes elements that represent all the its subspaces (lines, planes, volumes, ...). Conformal geometric algebra expands this…
In this Master of Science Thesis I introduce geometric algebra both from the traditional geometric setting of vector spaces, and also from a more combinatorial view which simplifies common relations and operations. This view enables us to…
Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture physical phenomena inside an algebraic framework that is…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
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…
In this paper, we introduce a decentralized digital twin (DDT) framework for dynamical systems and discuss the prospects of the DDT modeling paradigm in computational science and engineering applications. The DDT approach is built on a…
Training deep learning models on limited data while maintaining generalization is one of the fundamental challenges in molecular property prediction. One effective solution is transferring knowledge extracted from abundant datasets to those…
In the domain of geometry and topology optimization, discovering geometries that optimally satisfy specific problem criteria is a complex challenge in both engineering and scientific research. In this work, we propose a new approach for the…
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between…
In this thesis we study the momentum space approach to the solution of the CWI's of CFT's in higher dimensions. Our work's goal is to illustrate the essential steps needed to build tensor correlators starting from the scalar solutions, for…