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This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
Vertical take-off and landing (VTOL) aircraft do not require a prolonged runway, thus allowing them to land almost anywhere. In recent years, their flexibility has made them popular in development, research, and operation. When compared to…
Multi-output Gaussian processes (MOGPs) leverage the flexibility and interpretability of GPs while capturing structure across outputs, which is desirable, for example, in spatio-temporal modelling. The key problem with MOGPs is their…
A FLIP device gives cross-sectional area along the length of the esophagus and one pressure measurement, both as a function of time. Deducing mechanical properties of the esophagus including wall material properties, contraction strength,…
The starting point of this paper is that a spectral method is essentially a combination of an orthonormal basis of the underlying Hilbert space with Galerkin conditions. The choice of an orthonormal basis depends on a number of desirable…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
Conventional photoelastic methods are largely limited to two-dimensional stress visualization, leaving a gap in techniques that can capture three-dimensional force interactions with high sensitivity at low stress levels, a capability that…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS).…
We combine functional analytic and geometric viewpoints on approximate Birkhoff and isosceles orthogonality in generalized Minkowski spaces which are finite-dimensional vector spaces equipped with a gauge. This is the first approach to…
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from…
The present paper provides a comprehensive study of de-noising properties of frames and, in particular, tight frames, which constitute one of the most popular tools in contemporary signal processing. The objective of the paper is to bridge…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
The problem of parallel thread mapping is studied for the case of discrete orthogonal $m$-simplices. The possibility of a $O(1)$ time recursive block-space map $\lambda: \mathbb{Z}^m \mapsto \mathbb{Z}^m$ is analyzed from the point of view…
Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Orthogonal time frequency space modulation (OTFS) is currently one of the most robust modulation techniques for high Doppler channels. However, to reap the benefits of OTFS, an accurate channel estimation is crucial. To this mean, the…
We report the derivation and implementation of orbital optimization algorithms for the active space decomposition (ASD) model, which are extensions of complete active space self-consistent field (CASSCF) and its occupation-restricted…
Continual perturbations to the flow field in the square lid driven cavity can significantly impact both its stability and the dynamic characteristics of the system. In this study, the effect of these perturbations are analyzed via…