Related papers: Extending the Benefits of Parallel Elasticity acro…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an existing method. Then stiffness matrix is…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
An adjoint-based optimization is applied to study the thrust performance of a pitching-rolling ellipsoidal plate in a uniform stream at Reynolds number 100. To achieve the highest thrust, the optimal kinematics of pitching-rolling motion is…
Visualizing graphs using virtual physical models is probably the most heavily used technique for drawing graphs in practice. There are many algorithms that are efficient and produce high-quality layouts. If one requires that the layout also…
In this paper we study the limitations of parallelization in convex optimization. A convenient approach to study parallelization is through the prism of \emph{adaptivity} which is an information theoretic measure of the parallel runtime of…
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…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
The frequent elements problem, a key component in demanding stream-data analytics, involves selecting elements whose occurrence exceeds a user-specified threshold. Fast, memory-efficient $\epsilon$-approximate synopsis algorithms select all…
We consider the problem of selecting the best variable-value strategy for solving a given problem in constraint programming. We show that the recent Embarrassingly Parallel Search method (EPS) can be used for this purpose. EPS proposes to…
Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. The…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics. In current work, we study this…
Euler springs are used for vertical suspension and vibration isolation as they provide a large static supporting force with a low spring-rate and use minimal spring material. To date, multiple single-width rectangular blades of uniform…
It is classical that, when the small deformation is assumed, the incremental analysis problem of an elastoplastic structure with a piecewise-linear yield condition and a linear strain hardening model can be formulated as a convex quadratic…
Purpose: Six million people use crutches as mobile aids in the US. Rigid designs with no axial mobility limit sensory feedback and lead to secondary injury on the upper joints. Spring-loaded designs offer compliance but may compromise…
In this paper, we focus on offloading a computing task from a user equipment (UE) to a multi-access edge computing (MEC) server via multi-hop relaying. We assume a general relaying case where relays are energy-constrained devices, such as…
Shared resource interference is observed by applications as dynamic performance asymmetry. Prior art has developed approaches to reduce the impact of performance asymmetry mainly at the operating system and architectural levels. In this…