相关论文: Definition sets for the Direct Kinematics of Paral…
We define angles from-to and between infinite dimensional subspaces of a Hilbert space, inspired by the work of E. J. Hannan, 1961/1962 for general canonical correlations of stochastic processes. The spectral theory of selfadjoint operators…
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the end-users (surgeons), stakeholders (designers, ergonomic…
In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on…
Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more…
This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint…
In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
Joint spectra of tuples of operators are subsets in complex projective space. The corresponding tuple of operators can be viewed as an infinite dimensional analog of a determinantal representation of the joint spectrum. We investigate the…
In this paper, the intuitive idea of tilt is formalised into the rigorous concept of tilt rotations. This is motivated by the high relevance that pure tilt rotations have in the analysis of balancing bodies in 3D, and their applicability to…
Semantic segmentation models only perform well on the domain they are trained on and datasets for training are scarce and often have a small label-spaces, because the pixel level annotations required are expensive to make. Thus training…
Curvature principal directions on geometric surfaces are a ubiquitous concept of Geometry Processing techniques. However they only account for order 2 differential quantities, oblivious of higher order differential behaviors. In this paper,…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
The main aim of this book is to present recent results concerning inequalities for continuous functions of selfadjoint operators on complex Hilbert spaces. It is intended for use by both researchers in various fields of Linear Operator…
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…
We study a new class of pseudo differential operators whose symbols satisfy the differential inequality with a mixture of homogeneities. On the other hand, by taking singular integral realization, it can be equivalently defined by kernels…
Stripe patterns are ubiquitous in nature and everyday life. While the synthesis of these patterns has been thoroughly studied in the literature, their potential to control the mechanics of structured materials remains largely unexplored. In…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the…
Symmetry in the parameter space of deep neural networks (DNNs) has proven beneficial for various deep learning applications. A well-known example is the permutation symmetry in Multi-Layer Perceptrons (MLPs), where permuting the rows of…
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
We establish new upper bounds for the numerical radius of bounded linear operators on a complex Hilbert space by introducing weighted geometric means of the modulus of an operator and its adjoint. This approach yields a family of…