相关论文: A design oriented study for 3R Orthogonal Manipula…

With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…

Time series data analytics has been a problem of substantial interests for decades, and Dynamic Time Warping (DTW) has been the most widely adopted technique to measure dissimilarity between time series. A number of global-alignment kernels…

When the Standard Model is interpreted as the renormalizable sector of a low-energy effective theory, the effects of new physics are encoded into a set of higher dimensional operators. These operators potentially deform the shapes of…

Orthogonal designs are fundamental mathematical notions used in the construction of space time block codes for wireless transmissions. Designs have two important parameters, the rate and the decoding delay; the main problem of the theory is…

We present an overarching framework for stable spectral methods on a triangle, defined by a multivariate W-system and based on orthogonal polynomials on the triangle. Motivated by the Koornwinder orthogonal polynomials on the triangle, we…

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…

Distributionally robust optimization (DRO) has become a powerful framework for estimation under uncertainty, offering strong out-of-sample performance and principled regularization. In this paper, we propose a DRO-based method for linear…

We present a novel topology-preserving 3D medial axis computation framework based on volumetric restricted power diagram (RPD), while preserving the medial features and geometric convergence simultaneously, for both 3D CAD and organic…

This work addresses models (e.g. potential models of directed orbital systems- the manganates) in which an effective reduction dimensionality occurs as a result of a new symmetry which is intermediate between that of global and local gauge…

Knowledge of a manipulator's workspace is fundamental for a variety of tasks including robot design, grasp planning and robot base placement. Consequently, workspace representations are well studied in robotics. Two important…

Rotational smoothing is a phenomenon consisting in a gain of regularity by means of averaging over rotations. This phenomenon is present in operators that regularize only in certain directions, in contrast to operators regularizing in all…

The computation of the elastic shape registration of two simple surfaces in 3-dimensional space and therefore of the elastic shape distance between them has been investigated by Kurtek, Jermyn, et al. who have proposed algorithms to carry…

In this paper, we study the relationship between operator space norm and operator space numerical radius on the matrix space $\mathcal{M}_n(X)$, when $X$ is a numerical radius operator space. Moreover, we establish several inequalities for…

In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…

Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Existing nonlinear optimization-based…

This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…

In this paper we discuss the notion of reducibility for matrix weights and introduce a real vector space $\mathcal C_\mathbb{R}$ which encodes all information about the reducibility of $W$. In particular a weight $W$ reduces if and only if…

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…

This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…

Aerodynamic shape optimization has many industrial applications. Existing methods, however, are so computationally demanding that typical engineering practices are to either simply try a limited number of hand-designed shapes or restrict…