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

This paper demonstrates that parallel vector curves are piecewise cubic rational curves in 3D piecewise linear vector fields. Parallel vector curves -- loci of points where two vector fields are parallel -- have been widely used to extract…

Different (not only by sign) affine connections are introduced for contravariant and covariant tensor fields over a differentiable manifold by means of a non-canonical contraction operator, defining the notion dual bases and commuting with…

Surface metrology is the area of engineering concerned with the study of geometric variation in surfaces. This paper explores the potential for modern techniques from spatial statistics to act as generative models for geometric variation in…

We introduce the notion of domains with uniform squeezing property, study various analytic and geometric properties of such domains and show that they cover many interesting examples, including Teichmuller spaces and Hermitian symmetric…

Active subspaces are an emerging set of tools for identifying and exploiting the most important directions in the space of a computer simulation's input parameters; these directions depend on the simulation's quantity of interest, which we…

The medial axis $M_X$ of a closed set $X\subset \mathbb{R}^n$ is the set of points from the ambient space that admit more than one closest point in $X$. We study the problem of reaching the singularities, i.e. of characterising the points…

This paper highlights how unstructured space-time meshes can be used in production engineering applications with moving domains. Unstructured space-time elements can connect different spatial meshes at the bottom and top level of the…

Shearlet systems have so far been only considered as a means to analyze $L^2$-functions defined on $\R^2$, which exhibit curvilinear singularities. However, in applications such as image processing or numerical solvers of partial…

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple…

The development of a metric for structural data is a long-term problem in pattern recognition and machine learning. In this paper, we develop a general metric for comparing nonlinear dynamical systems that is defined with Perron-Frobenius…

The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…

The purpose of this paper is to provide tools for analyzing the compactness of sequences in Sobolev spaces, in particular if the sequence gets mapped onto a compact set by some nonlinear operator. Here, our focus lies on a very general…

Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable…

This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

Traditional machine learning models, particularly neural networks, are rooted in finite-dimensional parameter spaces and nonlinear function approximations. This report explores an alternative formulation where learning tasks are expressed…

We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective…

In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (SL) regressor, which are…

Finite plane geometry is associated with finite dimensional Hilbert space. The association allows mapping of q-number Hilbert space observables to the c-number formalism of quantum mechanics in phase space. The mapped entities reflect…

We propose a method to simultaneously compute scalar basis functions with an associated functional map for a given pair of triangle meshes. Unlike previous techniques that put emphasis on smoothness with respect to the Laplace--Beltrami…