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Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…
Parallel robots admit generally several solutions to the direct kinematics problem. The aspects are associated with the maximal singularity free domains without any singular configurations. Inside these regions, some trajectories are…
Many biological, chemical, and physical systems are underpinned by stochastic transitions between equilibrium states in a potential energy. Here, we consider such transitions in a minimal model with two possible competing pathways, both…
Distributed systems store data objects redundantly to balance the data access load over multiple nodes. Load balancing performance depends mainly on 1) the level of storage redundancy and 2) the assignment of data objects to storage nodes.…
For 2x2 block matrices, it is well-known that block-triangular or block-LDU preconditioners with an exact Schur complement (inverse) converge in at most two iterations for fixed-point or minimal-residual methods. Similarly, for saddle-point…
We study ordinal makespan scheduling on small numbers of identical machines, with respect to two parallel solutions. In ordinal scheduling, it is known that jobs are sorted by non-increasing sizes, but the specific sizes are not known in…
With the rapid growth of the express industry, intelligent warehouses that employ autonomous robots for carrying parcels have been widely used to handle the vast express volume. For such warehouses, the warehouse layout design plays a key…
Backpressure (BP) routing is a well-established framework for distributed routing and scheduling in wireless multi-hop networks. However, the basic BP scheme suffers from poor end-to-end delay due to the drawbacks of slow startup, random…
Additive manufacturing by laser fusion on a metal oxides powder bed has developed considerably in the last few years and allows to produce a wide range of complex parts. The mathematical models correspond to initial boundary value problems…
Recent works have developed new projection-free first-order methods based on utilizing linesearches and normal vector computations to maintain feasibility. These oracles can be cheaper than orthogonal projection or linear optimization…
Trees can accelerate queries that search or aggregate values over large collections. They achieve this by storing metadata that enables quick pruning (or inclusion) of subtrees when predicates on that metadata can prove that none (or all)…
The two standard branching schemes for CSPs are d-way and 2-way branching. Although it has been shown that in theory the latter can be exponentially more effective than the former, there is a lack of empirical evidence showing such…
Label switching is a phenomenon arising in mixture model posterior inference that prevents one from meaningfully assessing posterior statistics using standard Monte Carlo procedures. This issue arises due to invariance of the posterior…
We study a two-stage tandem service queue attended by two servers. Each job-server pair must complete both service phases together, with the server unable to begin a new job until the current one is fully processed after two stages.…
Oriented bounding box (OBB) bounding volume hierarchies offer a more precise fit than axis-aligned bounding box hierarchies in scenarios with thin elongated and arbitrarily rotated geometry, enhancing intersection test performance in ray…
Two-way is a dominant mode of communication in wireless systems. Departing from the tradition to optimize each transmission direction separately, recent work has demonstrated that, for time-division duplex (TDD) systems, optimizing the…
We present a class of 2D systems which shows a counterintuitive property that contradicts a semi classical intuition: A 2D quantum particle "prefers" tunneling through a barrier rather than traveling above it. Viewing the one particle 2D…
We propose two new alternating direction methods to solve "fully" nonsmooth constrained convex problems. Our algorithms have the best known worst-case iteration-complexity guarantee under mild assumptions for both the objective residual and…
The productivity and efficiency of port operations strongly depend on how fast a ship can be unloaded and loaded again. With this in mind, ship-to-shore cranes perform the critical task of transporting containers into and onto a ship and…
Quantum tunneling across double potential barriers is studied. With the assumption that the real space is a continuum, it is rigorously proved that large barriers of arbitrary shapes can be penetrated by low-energy particles with a…