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Efficient characteristic set methods for computing solutions of polynomial equation systems in a finite field are proposed. The concept of proper triangular sets is introduced and an explicit formula for the number of solutions of a proper…
We investigate geometric aspects of co-equational parametric resurgence, by studying physical problems whose formal asymptotic solutions give rise to Borel transforms lying on an algebraic curve. This perspective allows us to elucidate…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
We propose three iterative methods for solving the Moser-Veselov equation, which arises in the discretization of the Euler-Arnold differential equations governing the motion of a generalized rigid body. We start by formulating the problem…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Many problems in nonlinear analysis and optimization, among them variational inequalities and minimization of convex functions, can be reduced to finding zeros (namely, roots) of set-valued operators. Hence numerous algorithms have been…
We report a novel approach for the efficient computation of solutions of a broad class of large-scale systems of non-linear ordinary differential equations, describing aggregation kinetics. The method is based on a new take on the…
A classification of ordinary differential equations and finite-difference equations in one variable having polynomial solutions (the generalized Bochner problem) is given. The method used is based on the spectral problem for a polynomial…
Symmetries play an critical role in finding analytic solutions to nonlinear differential equations. A symmetry is a mapping of the solutions of the differential equation into the solutions and have been studied extensively for over a…
This paper deals with speeding up the convergence of a class of two-step iterative methods for solving linear systems of equations. To implement the acceleration technique, the residual norm associated with computed approximations for each…
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a…
An algorithm for the systematic analytical approximation of multi-scale Feynman integrals is presented. The algorithm produces algebraic expressions as functions of the kinematical parameters and mass scales appearing in the Feynman…
In this paper we study the effect of randomness in kinetic equations that preserve mass. Our focus is in proving the analyticity of the solution with respect to the randomness, which naturally leads to the convergence of numerical methods.…
We suggest a closed solution for the roots of polynomial trinomial algebraic equation $$z^n+xz^{n-1}-1=0$$ with an appropriate $x$. This solution is a minor modification to the work of Mikhalkin (Mikhalkin E N, 2006. On solving general…
The solution and implementation of the inverse kinematics computation of a three degree-of-freedom (DOF) robot manipulator using an algorithm for real quantifier elimination with Comprehensive Gr\"obner Systems (CGS) are presented. The…
This work presents an elegant formalism to model the evolution of the full two rigid body problem. The equations of motion, given in a Cartesian coordinate system, are expressed in terms of spherical harmonics and Wigner D-matrices. The…
This paper presents a comprehensive survey of methods which can be utilized to search for solutions to systems of nonlinear equations (SNEs). Our objectives with this survey are to synthesize pertinent literature in this field by presenting…
This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…
We propose an algebraic geometric approach for studying rational solutions of first-order algebraic ordinary difference equations. For an autonomous first-order algebraic ordinary difference equations, we give an upper bound for the degrees…
The numerical solution of kinetic equations is challenging due to the high dimensionality of the underlying phase space. In this paper, we develop a dynamical low-rank method based on the projector-splitting integrator in tensor-train (TT)…