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Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
With the rapid development of mobile computing, wearable wrist-worn is becoming more and more popular. But the current vibrotactile feedback patterns of most wrist-worn devices are too simple to enable effective interaction in nonvisual…
Orthogonal designs and weighing matrices have many applications in areas such as coding theory, cryptography, wireless networking and communication. In this paper, we first show that if positive integer $k$ cannot be written as the sum of…
In this paper we prove a conjecture of Bryant, Griffiths, and Yang concerning the characteristic variety for the determined isometric embedding system. In particular, we show that the characteristic variety is not smooth for any dimension…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…
A finite set $X \seq \RR^n$ with a weight function $w : X \longrightarrow \RR_{>0}$ is called \emph{Euclidean $t$-design} in $\RR^n$ (supported by $p$ concentric spheres) if the following condition holds: \[ \sum_{i=1}^p…
We consider spherical quadrangulations -- spherical embeddings of multigraphs, possibly with loops, so that every face has boundary walk of length 4 -- in which all vertices have degree 3 or 4. Interpreting each degree 4 vertex as a…
On a compact spin manifold we study the space of Riemannian metrics for which the Dirac operator is invertible. The first main result is a surgery theorem stating that such a metric can be extended over the trace of a surgery of codimension…
This paper tackles the challenging problem of constrained hexahedral meshing. An algorithm is introduced to build combinatorial hexahedral meshes whose boundary facets exactly match a given quadrangulation of the topological sphere. This…
This note presents a numerical example worked out in order to illustrate the solution to the output regulation problem with quadratic stability for linear switching systems derived in [1].
We present a database of rational elliptic curves, up to Q-isomorphism, with good reduction outside {2,3,5,7,11,13}. We provide a heuristic involving the abc and BSD conjectures that the database is likely to be the complete set of such…
We provide a geometric approach to two combinatorically symmmetric overconstrained spatial linkages. Both contain eight bodies and twelve revolute joints and collapse in aligned poses. The first one is spherical and the union of six…
A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…
Every compact aspherical Riemannian manifold admits a canonical series of orbibundle structures with infrasolv fibers which is called its infrasolv tower. The tower arises from the solvable radicals of isometry group actions on the…
The main result of this work is to present the complete list of Uq(sl2)-symmetries of quantum plane. For that, the structure of quantum plane automorphisms is used. Our idea in classifying the above symmetries is in introducing some special…
We investigate the universality of multi-spin systems in architectures of various symmetries of coupling type and topology. Explicit reachability sets under symmetry constraints are provided. Thus for a given (possibly symmetric)…
An anisotropic elastic material is referred to as exotic when, under specific loadings, its mechanical response exhibits a higher degree of symmetry than that prescribed by its intrinsic material symmetry. Such materials, which may be…
The multi-armed bandit is a concise model for the problem of iterated decision-making under uncertainty. In each round, a gambler must pull one of $K$ arms of a slot machine, without any foreknowledge of their payouts, except that they are…