相关论文: Definition sets for the Direct Kinematics of Paral…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number…

This paper concerns dual frames multipliers, i.e. operators in Hilbert spaces consisting of analysis, multiplication and synthesis processes, where the analysis and the synthesis are made by two dual frames, respectively. The goal of the…

Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…

Supervised dimensionality reduction has emerged as an important theme in the last decade. Despite the plethora of models and formulations, there is a lack of a simple model which aims to project the set of patterns into a space defined by…

Optical singularities, which are positions within an electromagnetic field where certain field parameters become undefined, hold significant potential for applications in areas such as super-resolution microscopy, sensing, and…

Recent developments have created differentiable physics simulators designed for machine learning pipelines that can be accelerated on a GPU. While these can simulate biomechanical models, these opportunities have not been exploited for…

We consider the Laplace-Beltrami operator in tubular neighbourhoods of curves on two-dimensional Riemannian manifolds, subject to non-Hermitian parity and time preserving boundary conditions. We are interested in the interplay between the…

We study an isomorphism between the group of rigid body displacements and the group of dual quaternions modulo the dual number multiplicative group from the viewpoint of differential geometry in a projective space over the dual numbers.…

We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…

Surgical domain models improve workflow optimization through automated predictions of each staff member's surgical role. However, mounting evidence indicates that team familiarity and individuality impact surgical outcomes. We present a…

In this paper, we use the language of noncommutative differential geometry to formalise discrete differential calculus. We begin with a brief review of inverse limit of posets as an approximation of topological spaces. We then show how to…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle…

The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…

We study finitely cyclic self-adjoint operators in a Hilbert space, i.e. self-adjoint operators that posses such a finite subset in the domain that the orbits of all its elements with respect to the operator are linearly dense in the space.…

In this paper we develop some combinatorial models for continuous spaces. In this spirit we study the approximations of continuous spaces by graphs, molecular spaces and coordinate matrices. We define the dimension on a discrete space by…

A plethora of diverse aspect mechanisms exist today, all of which integrate concerns into artifacts that exhibit crosscutting structure. What we lack and need is a characterization of the design space that these aspect mechanisms inhabit…

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy…

According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…