Related papers: Higher-Order Flexible Configurations of Planar Par…
We propose an algorithm for generating explicit solutions of multiparametric mixed-integer convex programs to within a given suboptimality tolerance. The algorithm is applicable to a very general class of optimization problems, but is most…
The research in parallel machine scheduling in combinatorial optimization suggests that the desirable parallel efficiency could be achieved when the jobs are sorted in the non-increasing order of processing times. In this paper, we find…
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The…
Evolutionary methods are effective tools for obtaining high-quality results when solving hard practical problems. Linkage learning may increase their effectiveness. One of the state-of-the-art methods that employ linkage learning is the…
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…
We present a method for improving the efficiency and user experience of freeform illumination design with machine learning. By utilizing orthogonal polynomials to interface with artificial neural networks, we are able to generalize…
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
This paper presents different methods for solving parallel machine scheduling problems with precedence constraints and setup times between the jobs. Limited discrepancy search methods mixed with local search principles, dominance conditions…
In this paper, an analytical method that solves the forward displacement problem of several common spherical parallel manipulators (SPMs) is presented. The method uses the the quaternion algebra to restate the problem as a system of four…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
We study the stability of regularization by projection for solving linear inverse problems if the forward operator is given indirectly but specified via some input-output training pairs. We extend the approach in "Data driven regularization…
A sequential application of the Grover algorithm to solve the iterated search problem has been improved by Ozhigov by parallelizing the application of the oracle. In this work a representation of the parallel Grover as dynamic system of…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
The paper proposes a novel regularization procedure for machine learning. The proposed high-order regularization (HR) provides new insight into regularization, which is widely used to train a neural network that can be utilized to…
Algebraic and analytic aspects of self-adjoint operators of order four or more with polynomial coefficients are investigated. As a consequence, a systematic way of constructing such operators is given. The procedure is applied to obtain…
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup…
This paper aims to design an optimal stability controller for a point to point trajectory tracking 3 degree of freedom articulated manipulator. The DH convention is used to obtain the forward and inverse kinematics of the manipulator. The…
We consider the tuning parameter selection rules for nuclear norm regularized multivariate linear regression (NMLR) in high-dimensional setting. High-dimensional multivariate linear regression is widely used in statistics and machine…